The paper presents a novel path-following solution for the dynamic model of an underactuated marine surface vessel. Assuming the lack of closed loop control over the linear velocities of the vessel, a velocity for a virtual target on the path and a reference angular velocity for the vessel are computed such that if the set target-vehicle had such velocities the path-following problem would be asymptotically solved at kinematic level. Then, applying feedback linearization to the dynamic model of the surface vessel, yaw torque command is computed in order to drive the vessels total velocity on the desired reference values. The resulting control law for the yaw degree of freedom results in nonlinear terms (from feedback linearization) and PI terms. Numerical simulations are provided to validate the proposed approach.
Path-Following for the Dynamic Model of a Marine Surface Vessel without Closed-Loop Control of the Surge Speed
PEDONE, PAOLA;ZIZZARI, ALESSANDRO ANTONIO;INDIVERI, GIOVANNI
2010-01-01
Abstract
The paper presents a novel path-following solution for the dynamic model of an underactuated marine surface vessel. Assuming the lack of closed loop control over the linear velocities of the vessel, a velocity for a virtual target on the path and a reference angular velocity for the vessel are computed such that if the set target-vehicle had such velocities the path-following problem would be asymptotically solved at kinematic level. Then, applying feedback linearization to the dynamic model of the surface vessel, yaw torque command is computed in order to drive the vessels total velocity on the desired reference values. The resulting control law for the yaw degree of freedom results in nonlinear terms (from feedback linearization) and PI terms. Numerical simulations are provided to validate the proposed approach.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
