Formation Path Following Control of Underactuated USVs -- With Proofs
Formation Path Following Control of Underactuated USVs -- With Proofs
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Ithaca: Cornell University Library, arXiv.org
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English
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Ithaca: Cornell University Library, arXiv.org
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This paper proposes a formation control method for two underactuated unmanned surface vessels (USVs) to follow curved paths in the presence of ocean currents. By uniting a line-of-sight (LOS) guidance law and the null-spacebased behavioral control (NSB) framework, we achieve curved path following of the barycenter, while maintaining the desired ves...
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Formation Path Following Control of Underactuated USVs -- With Proofs
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TN_cdi_proquest_journals_2459485552
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_2459485552
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2331-8422
