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dc.contributor.authorBelleter, Dennis Johannes Wouter
dc.contributor.authorMaghenem, Mohamed
dc.contributor.authorPaliotta, Claudio
dc.contributor.authorPettersen, Kristin
dc.date.accessioned2020-02-03T13:08:56Z
dc.date.available2020-02-03T13:08:56Z
dc.date.created2019-05-30T14:24:04Z
dc.date.issued2019
dc.identifier.citationAutomatica. 2019, 100 123-134.nb_NO
dc.identifier.issn0005-1098
dc.identifier.urihttp://hdl.handle.net/11250/2639321
dc.description.abstractIn this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path, which is used to propagate the path-tangential reference frame. The proposed dynamic update law of the path variable is nonsingular and the guidance law is designed such that the vessel can reject constant unknown ocean currents by using an ocean current observer. It is shown that the closed-loop system composed of the guidance law, controller and observer provides globally asymptotically stable and locally exponentially stable path following errors. The sway velocity dynamics is analyzed and, under adequate conditions on the path curvature, it is shown that the dynamics is well behaved and the guidance law is well-defined. Simulations are presented to verify the theoretical findings.nb_NO
dc.language.isoengnb_NO
dc.publisherElseviernb_NO
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/deed.no*
dc.titleObserver based path following for underactuated marine vessels in the presence of ocean currents: A global approachnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber123-134nb_NO
dc.source.volume100nb_NO
dc.source.journalAutomaticanb_NO
dc.identifier.doi10.1016/j.automatica.2018.11.008
dc.identifier.cristin1701589
dc.description.localcode© 2018. This is the authors’ accepted and refereed manuscript to the article. Locked until 23 November 2020 due to copyright restrictions. 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.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode2


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Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal