A uniform semiglobal exponential stable adaptive line-of-sight (ALOS) guidance law for 3-D path following

• Tipo: Artigo em Revista Científica Internacional
• Data: 2024

Autores

Fossen, TI (Autor) Outra; Aguiar, AP (Autor) FEUP

Revista

Título: Automatica

Vol. 163

ISSN: 0005-1098

Editora: Elsevier

Indexação

ISI Web of Knowledge - 0 Citações

Scopus

Outras Informações

ID Authenticus: P-010-0KE

DOI: 10.1016/j.automatica.2024.111556

Abstract (EN): This paper presents a 3-D adaptive line-of-sight (ALOS) path-following algorithm for autonomous vehicles, marine craft, and aircraft. The origins of the cross- and vertical-track errors are proven to be uniform semiglobal exponential stable (USGES). The stability proof is based on a kinematic amplitudephase representation of the North-East-Down (NED) positional rates instead of the classical Euler angle rotation matrix representation. Parameter adaption is used to obtain integral action such that the vehicle converges to the path in the presence of winds, waves, and ocean currents. Typical applications are guidance and path-following control systems for autonomous vehicles, marine craft, and aircraft, where the horizontal- and vertical-plane motions are strongly coupled. (c) 2024 The Author(s). Published by Elsevier Ltd. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 9