Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments

@article{Caharija2014IntegralLG,
  title={Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments},
  author={Walter Caharija and Kristin Ytterstad Pettersen and Marco Bibuli and Pedro Calado and Enrica Zereik and Jos{\'e} Braga and Jan Tommy Gravdahl and Asgeir J. S{\o}rensen and Milan Milovanovic and Gabriele Bruzzone},
  journal={IEEE Transactions on Control Systems Technology},
  year={2014},
  volume={24},
  pages={1623-1642}
}
This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance method for path-following tasks of underactuated marine vehicles, operating on and below the sea surface. It is shown that due to the embedded integral action, the guidance law makes the vessels follow straight lines by compensating for the drift effect of environmental disturbances, such as currents, wind, and waves. The ILOS guidance is first applied to a 2-D model of surface vessels that includes the… CONTINUE READING

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