Journal article
Robust Composite Nonlinear Feedback Path-Following Control for Underactuated Surface Vessels With Desired-Heading Amendment
Abstract
This paper addresses the transient performance improvement for path-following control of underactuated surface vessels (USVs) in the presence of oceanic disturbances. The traditional practice that chooses the tangent direction of the desired path as the desired heading may deteriorate the tracking performance in the curve following due to the nonzero sideslip angle therein. Also, the disturbances in wave filed greatly affect the transient …
Authors
Hu C; Wang R; Yan F; Chen N
Journal
IEEE Transactions on Industrial Electronics, Vol. 63, No. 10, pp. 6386–6394
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
October 1, 2016
DOI
10.1109/tie.2016.2573240
ISSN
0278-0046