Path Following for Underactuated Marine Vessels. Issue 18 (2016)

• Record Type: Journal Article
• Authors: Belleter, D.J.W.; Paliotta, C.; Maggiore, M.; Pettersen, K.Y.
• Is Part Of: IFAC-PapersOnLine. Volume 49:Issue 18(2016)
• Page Start: 588
• Page End: 593
• Publication Date: 2016
• Subjects: Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2016.10.229
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper investigates the problem of making an under actuated marine vessel follow an arbitrary differentiable Jordan curve. A solution is proposed which relies on a hierarchical control methodology involving the simultaneous stabilization of two nested sets, and results in a smooth, static, and time-invariant feedback. The methodology in question effectively reduces the control problem to one of path following for a kinematic point-mass. It is shown that as long as the curvature of the path is smaller than a quantity dependent on the mass and damping parameters of the ship, path following is achieved with uniformly bounded sway speed.