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dc.contributor.authorCaharija, Walter
dc.contributor.authorSørensen, Asgeir Johan
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGreco, Marilena
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2019-12-12T12:13:10Z
dc.date.available2019-12-12T12:13:10Z
dc.date.created2019-12-02T12:06:29Z
dc.date.issued2019-06-25
dc.identifier.citation2019 18th European Control Conference (ECC)nb_NO
dc.identifier.isbn978-3-907144-01-5
dc.identifier.urihttp://hdl.handle.net/11250/2632960
dc.description.abstractAn integral version of the line-of-sight guidance method is shown to compensate for both kinematic and dynamic disturbances generated by wind, waves and sea currents. The guidance law is designed for path following tasks of underactuated marine vessels moving in the horizontal plane. Specifically, the control system consists of an integral line-of-sight heading reference generator in a cascaded configuration with an adaptive surge-yaw controller. The total drifting effect of the environmental disturbances is modeled as a combination of a constant and unknown kinematic drift, and a constant, unknown and heading-dependent dynamic pressure acting on the vessel. The closed loop stability analysis shows that path following is achieved with global k-exponential stability properties. The theoretical results are supported by simulations.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.relation.ispartofProceedings of 18th European Control Conference (ECC)
dc.titlePath Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbancesnb_NO
dc.typeChapternb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber2551-2558nb_NO
dc.identifier.doi10.23919/ECC.2019.8795998
dc.identifier.cristin1755364
dc.relation.projectNorges forskningsråd: 223254nb_NO
cristin.unitcode7566,2,0,0
cristin.unitnameSjømatteknologi
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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