Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents
Original version
10.1109/MED.2016.7536018Abstract
An essential ability of autonomous unmanned surface vessels (USVs) and autonomous underwater vehicles (AUVs) moving in a horizontal plane is to follow a general two-dimensional path in the presence of unknown ocean currents. This paper presents a method to achieve this. The proposed guidance and control system only requires absolute velocity measurements for feedback, thereby foregoing the need for expensive sensors to measure relative velocities. The closed-loop system consists of a guidance law and an adaptive feedback linearizing controller combined with sliding mode, and is shown to render the path cross-track error dynamics UGAS and USGES. Simulation results are presented to verify the theoretical results.