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Nonlinear adaptive path following control of an autonomous surface vehicle: Theory and experiments

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Title Nonlinear adaptive path following control of an autonomous surface vehicle: Theory and experiments
 
Creator Gao, Jian
Liu, Changxin
 
Subject Autonomous surface vehicle
Path following
Serret-Frenet coordinate frame
Underactuated
 
Description 1669-1677
Autonomous surface vehicles (ASVs) have been widely used for military, civilian and academic applications because of their low developing costs and high executing efficiency. This paper investigates the path following control problem for a low-cost ASV without velocity measurement and feedback control. A Serret-Frenet coordinate frame, which originates at a reference point on the reference path, is utilized to describe path following errors and the corresponding dynamic model. The reference point moves along the path with a designed rate, which produces an additional control input to solve the singularity problem presented in the classic method. The moving velocity of the reference point and the desired yaw angle are appropriately designed to ensure the path following errors to be globally asymptotically stable with the estimated velocity and side-slip angle by using an adaptation mechanism. The steering control of ASVs is designed using an adaptive sliding mode control technique by dealing with the uncertain parameters in yaw dynamics. The simulations and experiments with linear and circular reference paths demonstrate the feasibility and effectiveness of the proposed path following controller.
 
Date 2016-07-21T10:30:46Z
2016-07-21T10:30:46Z
2015-11
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://nopr.niscair.res.in/jspui/handle/123456789/34994
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.44(11) [November 2015]