NDLI: Line-of-sight path-following along regularly parametrized curves solved as a generic maneuvering problem

Content Provider	IEEE Xplore Digital Library
Author	Skjetne, R. Jorgensen, U. Teel, A.R.
Copyright Year	2011
Description	Author affiliation: Department of Marine Technology, Norwegian University of Science and Technology (NTNU), Trondheim, Norway (Skjetne, R.; Jorgensen, U.) \|\| Center for Control Engineering and Computation, University of California, Santa Barbara, USA (Teel, A.R.)
Abstract	In the traditional maneuvering problem, the objective has been to solve a geometric task and a dynamic task, where the former is to converge to and follow a 1-dimensional manifold, a path, in the output space of the system, and the latter is to satisfy a desired dynamic behavior along the path. In this paper the objective is to generalize this problem statement, by rather stabilizing more general manifolds of higher dimension. With the system output constrained to the desired manifold, the dynamic task becomes to satisfy a dynamic assignment that ensures that the underlying control objective is solved with sufficient performance. In order to exemplify the theory, a case study is performed where a line-of-sight (LOS) algorithm is used to steer a simplified vessel to and along a desired parametrized path. In this case the desired manifold, which is of dimension 3, is defined as the set in which the LOS method is effectuated. The LOS algorithm then ensures, as the dynamic task, that the vessel steers correctly towards and along the path. A simulation study is provided to illustrate the effectiveness and properties of the resulting dynamic control law.
Starting Page	2467
Ending Page	2474
File Size	623321
Page Count	8
File Format	PDF
ISBN	9781612848006
ISSN	07431546
e-ISBN	9781612848013
e-ISBN	9781612847993
DOI	10.1109/CDC.2011.6161364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-12-12
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manifolds Vehicle dynamics Heuristic algorithms Vectors Dynamics Tuning Closed loop systems
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Modeling and Simulation

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