DocumentCode :
3444367
Title :
Line-of-sight path-following along regularly parametrized curves solved as a generic maneuvering problem
Author :
Skjetne, Roger ; Jørgensen, Ulrik ; Teel, Andrew R.
Author_Institution :
Dept. of Marine Technol., Norwegian Univ. of Sci. & Technol. (NTNU), Trondheim, Norway
fYear :
2011
fDate :
12-15 Dec. 2011
Firstpage :
2467
Lastpage :
2474
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.
Keywords :
control system synthesis; position control; stability; vehicles; control objective; dynamic assignment; dynamic control law; dynamic task; generic maneuvering problem; geometric task; line-of-sight algorithm; line-of-sight path-following; parametrized path; regularly parametrized curve; simplified vessel steering; stabilization; Closed loop systems; Dynamics; Heuristic algorithms; Manifolds; Tuning; Vectors; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Decision and Control and European Control Conference (CDC-ECC), 2011 50th IEEE Conference on
Conference_Location :
Orlando, FL
ISSN :
0743-1546
Print_ISBN :
978-1-61284-800-6
Electronic_ISBN :
0743-1546
Type :
conf
DOI :
10.1109/CDC.2011.6161364
Filename :
6161364
Link To Document :
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