dc.contributor.author | Eek, Åsmund | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Ruud, Else-Line Malene | |
dc.contributor.author | Krogstad, Thomas Røbekk | |
dc.date.accessioned | 2021-09-16T10:36:27Z | |
dc.date.available | 2021-09-16T10:36:27Z | |
dc.date.created | 2021-09-10T12:31:09Z | |
dc.date.issued | 2021 | |
dc.identifier.issn | 0947-3580 | |
dc.identifier.uri | https://hdl.handle.net/11250/2778552 | |
dc.description.abstract | This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-space-based behavioral control (NSB) framework, we achieve curved path following of the barycenter, while maintaining the desired vessel formation.
The closed-loop dynamics are investigated using cascaded systems theory, and it is shown that the closed-loop system is USGES and UGAS, while the underactuated sway dynamics remain bounded. Simulations show that the barycenter task errors converge to zero, validating the theoretical results, while a small cross-track error is observed in the experiments. | en_US |
dc.language.iso | eng | en_US |
dc.publisher | Elsevier | en_US |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internasjonal | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/deed.no | * |
dc.title | Formation Path Following Control of Underactuated USVs | en_US |
dc.type | Peer reviewed | en_US |
dc.type | Journal article | en_US |
dc.description.version | acceptedVersion | en_US |
dc.source.journal | European Journal of Control | en_US |
dc.identifier.doi | 10.1016/j.ejcon.2021.06.027 | |
dc.identifier.cristin | 1933239 | |
dc.description.localcode | "© 2021. This is the authors’ accepted and refereed manuscript to the article. Locked until 30.6.2023 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/ " | en_US |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |