Non-linear path following control of underactuated autonomous surface vehicles

Jiqiren/Robot

Volumn 34, Issue 3, 2012, Pages 329-336

  Gao, Jian ^a   Liu, Fuqiang ^a   Zhao, Jiang ^a   Yan, Weisheng ^a  

^a NORTHWESTERN POLYTECHNICAL UNIVERSITY   (China)

Author keywords

Autonomous surface vehicle; Cascaded approach; Path following control; Underactuated

Indexed keywords

CASCADED APPROACH; CASCADED SYSTEM; CONTROL INPUTS; DYNAMICS MODELS; EXPONENTIALLY STABLE; FREE PATH; GLOBALLY EXPONENTIALLY STABLE; ORTHOGONAL PROJECTION; PATH FOLLOWING; PATH FOLLOWING CONTROL; REFERENCE POINTS; SINGULARITY PROBLEMS; SUBMODELS; SURFACE VEHICLES; UNDERACTUATED; VELOCITY TRACKING; YAW ANGLES;

ALGORITHMS;

ERRORS;

EID: 84862983224     PISSN: 10020446     EISSN: None     Source Type: Journal    
DOI: 10.3724/SP.J.1218.2012.00329     Document Type: Article

References (10)

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