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    Formation Path Following Control of Underactuated USVs

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    1933239.pdf (2.474Mb)
    Date
    2021-06-30
    Author
    Eek, Åsmund
    Pettersen, Kristin Ytterstad
    Ruud, Else-Line Malene
    Krogstad, Thomas Røbekk
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    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.
    URI
    http://hdl.handle.net/20.500.12242/2960
    DOI
    10.1016/j.ejcon.2021.06.027
    Description
    Formation Path Following Control of Underactuated USVs. European Journal of Control 2021 ;Volum 62. s. 171-184
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