Robust Nonlinear Path Following Control of Underactuated MSV With Time-Varying Sideslip Compensation in the Presence of Actuator Saturation and Error Constraint

Robust Nonlinear Path Following Control of Underactuated MSV With Time-Varying Sideslip Compensation in the Presence of Actuator Saturation and Error Constraint

A robust nonlinear path following control scheme is proposed for the underactuated marine surface vehicle (MSV) under the condition of the unknown time-varying sideslip, time-varying error constraint, actuator saturation, and unknown compound disturbances including external environment disturbance a...

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Bibliographic Details
Main Authors: Jun Nie, Xiaogong Lin
Format: Article
Language:English
Published: IEEE 2018-01-01
Series:IEEE Access
Subjects:
Underactuated MSV
path following
ECS-LOS guidance law
actuator saturation
error constraint
Online Access:https://ieeexplore.ieee.org/document/8536393/

Internet

https://ieeexplore.ieee.org/document/8536393/

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