A path following guidance solution for underactuated marine systems is presented. The approach differs from other ones known in the literature in the definition of the error variables to be stabilized to zero. The main idea is presented and applied to the case of linear path following in the presence of constant known currents. Simulation experiments are presented and discussed.
Linear path following guidance control for underactuated ocean vehicles
G. INDIVERI;
2007-01-01
Abstract
A path following guidance solution for underactuated marine systems is presented. The approach differs from other ones known in the literature in the definition of the error variables to be stabilized to zero. The main idea is presented and applied to the case of linear path following in the presence of constant known currents. Simulation experiments are presented and discussed.
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