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This paper presents a guidance law design for synchronized path following of multiple underactuated unmanned surface vehicles (USVs) without using a global reference velocity. Firstly, a distributed observer is proposed to eliminate the need of reference velocity known to all the vehicles. Secondly, a line-of-sight based guidance law is derived to force each vehicle to follow a parameterized path...
In this paper, a distributed guidance law at the kinematic level is developed for coordinated maneuvering of networked fully-actuated autonomous surface vehicles with a virtual leader that moves along a parameterized path. We design the distributed guidance law based on the constant bearing guidance scheme and a path maneuvering design. We prove that the error signals in the closed-loop guidance system...
This paper is concerned with the cooperative path maneuvering of multiple underactuated autonomous surface vehicles (ASVs) moving along a parameterized path. Each vehicle is subject to uncertain kinematics and unknown kinetics induced by model uncertainty and ocean disturbances. A modular adaptive control method is presented to develop the cooperative controller such that a queue formation along the...
This paper presents an extended state observer (ESO) based line-of-sight guidance law for straight line path following of underactuated marine surface vessels. The line-of-sight guidance method and reduced-order ESO technique are brought together to design the path following controller. By using the reduced-order ESO, the time-varying vehicle sideslip angle due to environmental disturbances can be...
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