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Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation
文献类型：期刊论文
| 作者 | Liu L(刘陆); Wang D(王丹); Peng ZH(彭周华); Wang H(王昊)
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| 刊名 | Ocean Engineering
 |
| 出版日期 | 2016 |
| 卷号 | 124页码:340-348 |
| 关键词 | LOS guidancelaw Path following Sideslip compensation Predictor |
| ISSN号 | 0029-8018 |
| 产权排序 | 2 |
| 通讯作者 | 王丹 ; 彭周华 |
| 中文摘要 | This paper presents a novel predictor-based line-of-sight (PLOS) guidance law for the path following of underactuated marine surface vehicles. A predictor is developed for the estimation of vehicle sideslip due to environmental disturbances. The proposed guidance law not only preserves the simplicity and interpretation of classical line-of-sight (LOS) guidance, but also enables smooth and fast identification of the vehicle sideslip angle. By using a cascade stability theory, the equilibrium point of the close-loop system is shown to be uniform global asymptotic stable. The transient property is quantified by deriving the L2norm of the derivative of the adaptive signal, which can be reduced by choosing design parameters. Both simulation and experimental results are provided to validate the effectiveness of the method. |
| WOS标题词 | Science & Technology ; Technology ; Physical Sciences |
| 类目[WOS] | Engineering, Marine ; Engineering, Civil ; Engineering, Ocean ; Oceanography |
| 研究领域[WOS] | Engineering ; Oceanography |
| 关键词[WOS] | VESSELS ; DESIGN |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000383813600029 |
| 源URL | [http://ir.sia.cn/handle/173321/18860]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Liu L,Wang D,Peng ZH,et al. Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation[J]. Ocean Engineering,2016,124:340-348. |
| APA | Liu L,Wang D,Peng ZH,&Wang H.(2016).Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation.Ocean Engineering,124,340-348. |
| MLA | Liu L,et al."Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation".Ocean Engineering 124(2016):340-348. |
入库方式： OAI收割
来源：沈阳自动化研究所
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