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Polish Maritime Research
Volume 24 (2017): Issue 1 (March 2017)
Open Access
Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm
Tao Liu
Tao Liu
,
Zaopeng Dong
Zaopeng Dong
,
Hongwang Du
Hongwang Du
,
Lifei Song
Lifei Song
and
Yunsheng Mao
Yunsheng Mao
| Apr 12, 2017
Polish Maritime Research
Volume 24 (2017): Issue 1 (March 2017)
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Published Online:
Apr 12, 2017
Page range:
3 - 11
DOI:
https://doi.org/10.1515/pomr-2017-0001
Keywords
unmanned surface vessel (USV)
,
path following control
,
Serret-Frenet coordinate frame
,
underactuated system
,
improved lineof- sight guidance algorithm
,
nonlinear backstepping method
© 2017
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.
Tao Liu
College of Automation, Harbin Engineering University,
China
Zaopeng Dong
Ship Engineering Department, School of Transportation, Wuhan University of Technology, Heping Road, 430000 Wuhan,
China
Hongwang Du
College of Automation, Harbin Engineering University,
China
Lifei Song
Ship Engineering Department, School of Transportation, Wuhan University of Technology,
China
Yunsheng Mao
Ship Engineering Department, School of Transportation, Wuhan University of Technology,
China