dc.contributor.author | Fossen, Thor I. | |
dc.contributor.author | Moe, Signe | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2017-03-13T13:09:01Z | |
dc.date.available | 2017-03-13T13:09:01Z | |
dc.date.created | 2016-12-16T10:06:20Z | |
dc.date.issued | 2016 | |
dc.identifier.issn | 1934-1776 | |
dc.identifier.uri | http://hdl.handle.net/11250/2433975 | |
dc.description.abstract | 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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.source.journal | IEEE Mediterranean Conference on Control & Automation | nb_NO |
dc.identifier.doi | 10.1109/MED.2016.7536018 | |
dc.identifier.cristin | 1413812 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.” | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | preprint | |