dc.contributor.author | Eek, Åsmund | en_GB |
dc.contributor.author | Pettersen, Kristin Ytterstad | en_GB |
dc.contributor.author | Ruud, Else-Line Malene | en_GB |
dc.contributor.author | Krogstad, Thomas Røbekk | en_GB |
dc.date.accessioned | 2021-09-10T10:32:03Z | |
dc.date.accessioned | 2022-01-17T10:52:30Z | |
dc.date.available | 2021-09-10T10:32:03Z | |
dc.date.available | 2022-01-17T10:52:30Z | |
dc.date.issued | 2021-06-30 | |
dc.identifier.citation | Eek, Pettersen, Ruud, Krogstad. Formation Path Following Control of Underactuated USVs. European Journal of Control. 2021 | en_GB |
dc.identifier.uri | http://hdl.handle.net/20.500.12242/2960 | |
dc.description | Formation Path Following Control of Underactuated USVs. European Journal of Control 2021 ;Volum 62. s. 171-184 | en_GB |
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_GB |
dc.language.iso | en | en_GB |
dc.subject | Ubemannede overflatefartøyer (USV) | en_GB |
dc.subject | Autonome overflatefarkoster | en_GB |
dc.title | Formation Path Following Control of Underactuated USVs | en_GB |
dc.type | Article | en_GB |
dc.date.updated | 2021-09-10T10:32:03Z | |
dc.identifier.cristinID | 1933239 | |
dc.identifier.doi | 10.1016/j.ejcon.2021.06.027 | |
dc.source.issn | 0947-3580 | |
dc.source.issn | 1435-5671 | |
dc.type.document | Journal article | |
dc.relation.journal | European Journal of Control | |