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dc.contributor.authorEek, Åsmunden_GB
dc.contributor.authorPettersen, Kristin Ytterstaden_GB
dc.contributor.authorRuud, Else-Line Maleneen_GB
dc.contributor.authorKrogstad, Thomas Røbekken_GB
dc.date.accessioned2021-09-10T10:32:03Z
dc.date.accessioned2022-01-17T10:52:30Z
dc.date.available2021-09-10T10:32:03Z
dc.date.available2022-01-17T10:52:30Z
dc.date.issued2021-06-30
dc.identifier.citationEek, Pettersen, Ruud, Krogstad. Formation Path Following Control of Underactuated USVs. European Journal of Control. 2021en_GB
dc.identifier.urihttp://hdl.handle.net/20.500.12242/2960
dc.descriptionFormation Path Following Control of Underactuated USVs. European Journal of Control 2021 ;Volum 62. s. 171-184en_GB
dc.description.abstractThis 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.isoenen_GB
dc.subjectUbemannede overflatefartøyer (USV)en_GB
dc.subjectAutonome overflatefarkosteren_GB
dc.titleFormation Path Following Control of Underactuated USVsen_GB
dc.typeArticleen_GB
dc.date.updated2021-09-10T10:32:03Z
dc.identifier.cristinID1933239
dc.identifier.doi10.1016/j.ejcon.2021.06.027
dc.source.issn0947-3580
dc.source.issn1435-5671
dc.type.documentJournal article
dc.relation.journalEuropean Journal of Control


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