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dc.contributor.authorSyre Wiig, Martin
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorRuud, Else-Line Malene
dc.contributor.authorKrogstad, Thomas Røbekk
dc.date.accessioned2019-03-28T14:23:24Z
dc.date.available2019-03-28T14:23:24Z
dc.date.created2019-01-10T09:22:51Z
dc.date.issued2018
dc.identifier.isbn978-3-9524-2698-2
dc.identifier.urihttp://hdl.handle.net/11250/2592279
dc.description.abstractThis paper presents an algorithm that makes an underactuated marine vehicle follow a straight line path while in the presence of a constant ocean current. When following the path, the vehicle maintains a desired surge speed which is measured relative to the water, and which may be constant or time-varying. The algorithm is an integral line-of-sight guidance law where the lookahead distance is designed to depend linearly on the desired relative surge speed of the vehicle. This dependency makes it possible to keep the maneuvering demands of the vehicle limited, even when the vehicle surge speed is large. It is shown that if the desired relative surge speed is constant along the path, the resulting error dynamics has a uniformly semiglobally exponentially stable equilibrium at the origin, thus achieving the path following and velocity control objectives. Furthermore, in the case of a general, timevarying desired speed trajectory, it is shown that the solutions of the system remain bounded. The results are supported by simulations, as well as experiments with an unmanned surface vehicle.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartof2018 European Control Conference (ECC)
dc.titleAn Integral Line-of-Sight Guidance Law with a Speed-dependent Lookahead Distancenb_NO
dc.typeChapternb_NO
dc.description.versionacceptedVersionnb_NO
dc.identifier.doi10.23919/ECC.2018.8550243
dc.identifier.cristin1653727
dc.description.localcode© 2018 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.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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