Straight Line Path Following for Formations of Underactuated Marine Surface Vessels

@article{Brhaug2011StraightLP,
  title={Straight Line Path Following for Formations of Underactuated Marine Surface Vessels},
  author={Even B\orhaug and Alexey V. Pavlov and Elena Panteley and Kristin Ytterstad Pettersen},
  journal={IEEE Transactions on Control Systems Technology},
  year={2011},
  volume={19},
  pages={493-506}
}
The problem of formation control and path following for underactuated 3-degrees-of-freedom (3-DOF) marine surface vessels is considered. The proposed decentralized controller makes the vessels asymptotically constitute a desired formation that follows a given straight line path with a given forward speed profile. The controller consists of a cross-track control law, based on line-of-sight guidance, and a nonlinear synchronization control law. The closed-loop dynamics of both the cross-track… CONTINUE READING
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