A switching LOS guidance with relative kinematics for path-following of underactuated underwater vehicles

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dc.contributor.authorAbdurahman, Bilal
dc.contributor.authorSavvaris, Al
dc.contributor.authorTsourdos, Antonios
dc.date.accessioned2018-01-03T10:45:30Z
dc.date.available2018-01-03T10:45:30Z
dc.date.issued2017-07-31
dc.description.abstractThis paper presents a switching heuristic for the enclosure-based line-of-sight (ELOS) guidance and the concept of relative kinematics. The switching scheme proposed addresses the need for additional path-approaching strategies required in ELOS guidance in case of large cross-track errors. A nonlinear controller is applied to solve the path-following problem as a maneuvering problem, and the resulting guidance system with the relative kinematics perform well in compensating for drift caused by strong ocean currents. Stability and convergence analysis of the closed-loop systems are also provided along with simulation results showing straight-line waypoint-following performance of an AUV.en_UK
dc.identifier.citationAbdurahman B, Savvaris A, Tsourdos A. (2017) switching LOS guidance with relative kinematics for path-following of underactuated underwater vehicles. IFAC-PapersOnLine, Volume 50, Issue 1, 2017, pp. 2290-2295en_UK
dc.identifier.issn2405-8963
dc.identifier.urihttps://doi.org/10.1016/j.ifacol.2017.08.228
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/12836
dc.language.isoenen_UK
dc.publisherElsevieren_UK
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectline-of-sight guidanceen_UK
dc.subjectcurrent compensationen_UK
dc.subjectunderwater vehiclesen_UK
dc.subjectAUVsen_UK
dc.subjectpath-following controlen_UK
dc.titleA switching LOS guidance with relative kinematics for path-following of underactuated underwater vehiclesen_UK
dc.typeConference paperen_UK

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