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Nonsingular Serret–Frenet based path following control for an underactuated surface vessel / Ghommam, Jawhar in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 131 N°2 (Mars/Avril 2009) 

Public ISBD [article]  in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°2 (Mars/Avril 2009) . - 08 p. Titre : Nonsingular Serret–Frenet based path following control for an underactuated surface vessel Type de document : texte imprimé Auteurs : Ghommam, Jawhar, Auteur ; Mnif, Faïçal, Auteur ; Abederraouf Benali, Auteur Année de publication : 2009 Article en page(s) : 08 p. Note générale : dynamic systems Langues : Anglais (eng) Mots-clés : underactuated  surface  vessel;  new  control  law;  Serret–Frenet  formulation;  path  following;  Lyapunov  direct  method;  backstepping  technique Résumé : In this paper we develop a new control law to steer an underactuated surface vessel along a predefined path at a constant forward speed controlled by the main thruster system. The methodology is based on the Serret–Frenet formulation to represent the ship kinematics in terms of path parameters, which allows for convenient definition of cross and along track error. Furthermore, our approach for path following overcomes the stringent initial condition constraints. This paper also addresses the path following with environmental disturbances induced by wave, wind, and ocean-current. The proposed controller is designed based on the Lyapunov direct method and backstepping technique. The closed loop path following errors is proven to be uniform ultimate bounded. Results are demonstrated by high fidelity simulation. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...] [article] Nonsingular Serret–Frenet based path following control for an underactuated surface vessel [texte imprimé] / Ghommam, Jawhar, Auteur ; Mnif, Faïçal, Auteur ; Abederraouf Benali, Auteur . - 2009 . - 08 p. dynamic systems Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 131 N°2 (Mars/Avril 2009) . - 08 p. Mots-clés : underactuated  surface  vessel;  new  control  law;  Serret–Frenet  formulation;  path  following;  Lyapunov  direct  method;  backstepping  technique Résumé : In this paper we develop a new control law to steer an underactuated surface vessel along a predefined path at a constant forward speed controlled by the main thruster system. The methodology is based on the Serret–Frenet formulation to represent the ship kinematics in terms of path parameters, which allows for convenient definition of cross and along track error. Furthermore, our approach for path following overcomes the stringent initial condition constraints. This paper also addresses the path following with environmental disturbances induced by wave, wind, and ocean-current. The proposed controller is designed based on the Lyapunov direct method and backstepping technique. The closed loop path following errors is proven to be uniform ultimate bounded. Results are demonstrated by high fidelity simulation. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://dynamicsystems.asmedigitalcollection.asme.org/issue.aspx?journalid=117&is [...]