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1、LINE-OF-SIGHTPATHFOLLOWINGOFUNDERACTUATEDMARINECRAFTThorI.Fossen∗,1MortenBreivik∗RogerSkjetne∗∗CentreofShipsandOceanStructures(CESOS),NorwegianUniversityofScienceandTechnology(NTNU),NO-7491Trondheim,Norway.E-mails:tif@itk.ntnu.no,mortebre@itk.ntnu.no,skjetne@ieee.orgAbstract:A3degreesoff
2、reedom(surge,sway,andyaw)nonlinearcontrollerforpathfollowingofmarinecraftusingonlytwocontrolsisderivedusingnonlinearcontroltheory.Pathfollowingisachievedbyageometricassignmentbasedonaline-of-sightprojectionalgorithmforminimizationofthecross-trackerrortothepath.Thedesiredspeedalongthepath
3、canbespecifiedindependently.Thecontrollawsinsurgeandyawarederivedusingbackstepping.Thisresultsinadynamicfeedbackcontrollerwherethedynamicsoftheuncontrolledswaymodeenterstheyawcontrollaw.UGASisprovenforthetrackingerrordynamicsinsurgeandyawwhilethecontrollerdynamicsisbounded.Acasestudyinvol
4、vinganexperimentwithamodelshipisincludedtodemonstratetheperformanceofthecontrollerandguidancesystems.Copyright°c2003IFAC.Keywords:Shipsteering,Line-of-Sightguidance,Pathfollowing,Maneuvering,Nonlinearcontrol,Underactuatedcontrol,Experimentalresults1.INTRODUCTIONthispurpose.Thedesiredgeom
5、etricpathconsistsofstraightlinesegmentsconnectedbyway-points.TheInmanyapplicationsoffshoreitisofprimaryimpor-secondcontrolobjective,speedassignment,isdefinedtancetosteeraship,asubmersibleorarigalongaintermsofaprescribedspeedudalongthebody-desiredpathwithaprescribedspeed(Fossen1994,fixedx-a
6、xisoftheship.Thisspeedwillbeidentical2002).Thepathisusuallydefinedintermsofway-tothepathspeedoncetheshiphasconvergedtothepointsusingtheCartesiancoordinates(x,y)∈R2.kkpath.Hence,thedesiredspeedprofilecanbeassignedInaddition,eachway-pointcanincludeturningin-dynamically.formationusuallyspecifi
7、edbyacirclearcconnectingtheway-pointbeforeandaftertheway-pointofinter-1.1ControlofUnderactuatedShipsest.Desiredvesselspeedud∈Risalsoassociatedwitheachway-pointimplyingthatthespeedmustbeForfloatingrigsandsupplyvessels,trajectorytrack-changedalongthepathbetweentheway-points.
