dc.contributor.author | Maghenem, Mohamed | |
dc.contributor.author | Belleter, Dennis Johannes Wouter | |
dc.contributor.author | Paliotta, Claudio | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.date.accessioned | 2018-03-15T12:55:52Z | |
dc.date.available | 2018-03-15T12:55:52Z | |
dc.date.created | 2018-01-16T12:24:42Z | |
dc.date.issued | 2017 | |
dc.identifier.issn | 2405-8963 | |
dc.identifier.uri | http://hdl.handle.net/11250/2490706 | |
dc.description.abstract | In this article a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. The path is parametrised by a path variable that is used to propagate a path-tangential reference frame. The update law for the path variable is chosen such that the motion of the path-tangential frame ensures that the vessel remains on the normal of the path-tangential reference frame. As shown in the seminal work Samson [1992] such a parametrisation is only possible locally. A tube is defined in which the aforementioned parametrisation is valid and the path-following problem is solved within this tube. The size of the tube is proportional to the maximum curvature of the path. It is shown that within this tube, the closed-loop system of the proposed controller, guidance law, and the ocean current observer provides exponential stability of the path-following error dynamics. The sway velocity dynamics are analysed taking into account couplings previously overlooked in the literature, and is shown to remain bounded. Simulation results are presented | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | Elsevier | nb_NO |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Observer Based Path Following for Underactuated Marine Vessels in the Presence of Ocean Currents: A Local Approach | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.source.volume | 50 | nb_NO |
dc.source.journal | IFAC-PapersOnLine | nb_NO |
dc.source.issue | 1 | nb_NO |
dc.identifier.doi | 10.1016/j.ifacol.2017.08.2399 | |
dc.identifier.cristin | 1544010 | |
dc.relation.project | Norges forskningsråd: 223254 | nb_NO |
dc.description.localcode | © 2016. This is the authors’ accepted and refereed manuscript to the article. This manuscript version is made available under the CC-BY-NC-ND 4.0 license http://creativecommons.org/licenses/by-nc-nd/4.0/ | nb_NO |
cristin.unitcode | 194,63,25,0 | |
cristin.unitname | Institutt for teknisk kybernetikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |