Marine vehicle path following using inner-outer loop control.

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dc.contributor.author Maurya, P.K.
dc.contributor.author Agular, A.P.
dc.contributor.author Pascoal, A.M.
dc.date.accessioned 2014-04-01T04:26:05Z
dc.date.available 2014-04-01T04:26:05Z
dc.date.issued 2009
dc.identifier.citation 8th IFAC International Conference on Manoeuvring and Control of Marine Craft 2009, September 16-18, 2009, Guaruja - Brazil. 6 pp.
dc.identifier.uri http://drs.nio.org/drs/handle/2264/4488
dc.description.abstract This paper addresses the problem of marine vehicle path following using innerouter loop control, with due account for the vehicle dynamics. We propose an inner-outer control structure that lends itself to a simple intuitive interpretation and exhibits three key advantages: i) it allows for decoupling in the design of the inner and outer control loops, ii) the design of the outer loop controller does not require in depth knowledge of the internal vehicle dynamics, and iii) it affords practitioners a very convenient method to effectively implement path following controllers on a wide range of vehicles. The mathematical tools used for systems characterization and stability analysis borrow from Input to Output Stability (IOS) theory and small gain theorems. In this paper, formal system analysis is done only for the case where the paths to be followed are straight lines. However, the technical machinery developed and the results obtained shed light into the process of designing path following controllers with an inner-outer loop structure for arbitrary paths. The efficacy of the path following control structure developed has been proven during tests with an AUV and an ASV at sea
dc.language.iso en
dc.publisher IFAC International Conference
dc.rights Copyright [2009]. All efforts have been made to respect the copyright to the best of our knowledge. Inadvertent omissions, if brought to our notice, stand for correction and withdrawal of document from this repository.
dc.subject unmanned vehicles
dc.subject ship motion
dc.subject manoeuvrability
dc.subject navigation underwater
dc.subject autopilots
dc.subject direction finding
dc.subject dynamic positioning
dc.title Marine vehicle path following using inner-outer loop control.
dc.type Conference Article


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