In this paper we develop a new control law to steer an underactuated surface vessel along a predefined path at a constant forward speed controlled by the main thruster system. The methodology is based on the Serret–Frenet formulation to represent the ship kinematics in terms of path parameters, which allows for convenient definition of cross and along track error. Furthermore, our approach for path following overcomes the stringent initial condition constraints. This paper also addresses the path following with environmental disturbances induced by wave, wind, and ocean-current. The proposed controller is designed based on the Lyapunov direct method and backstepping technique. The closed loop path following errors is proven to be uniform ultimate bounded. Results are demonstrated by high fidelity simulation.
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March 2009
Research Papers
Nonsingular Serret–Frenet Based Path Following Control for an Underactuated Surface Vessel
Jawhar Ghommam,
Jawhar Ghommam
Research Unit on Mechatronics and Autonomous Systems,
Ecole Nationale d’Ingenieurs de Sfax
, Tunisia; Laboratoire de Vision et Robotique (LVR), Université d’Orléans
, 63, Avenue, De Lattre de Tassigny, 18000 Bourges, France
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Faïçal Mnif,
Faïçal Mnif
Sultan Qaboos University
, P.O. Box 33, Muscat 123, Oman; Research Unit on Mechatronics and Autonomous Systems, Ecole Nationale d’Ingenieurs de Sfax
, 3038 Sfax, Tunisia
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Abederraouf Benali,
Abederraouf Benali
Laboratoire de Vision et Robotique (LVR),
Université d’Orléans
, 63, Avenue De Lattre de Tassigny, 18000 Bourges, France
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Nabil Derbel
Nabil Derbel
Research Unit on Mechatronics and Autonomous Systems,
Ecole Nationale d’Ingenieurs de Sfax
, 3038 Sfax, Tunisia
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Jawhar Ghommam
Research Unit on Mechatronics and Autonomous Systems,
Ecole Nationale d’Ingenieurs de Sfax
, Tunisia; Laboratoire de Vision et Robotique (LVR), Université d’Orléans
, 63, Avenue, De Lattre de Tassigny, 18000 Bourges, France
Faïçal Mnif
Sultan Qaboos University
, P.O. Box 33, Muscat 123, Oman; Research Unit on Mechatronics and Autonomous Systems, Ecole Nationale d’Ingenieurs de Sfax
, 3038 Sfax, Tunisia
Abederraouf Benali
Laboratoire de Vision et Robotique (LVR),
Université d’Orléans
, 63, Avenue De Lattre de Tassigny, 18000 Bourges, France
Nabil Derbel
Research Unit on Mechatronics and Autonomous Systems,
Ecole Nationale d’Ingenieurs de Sfax
, 3038 Sfax, TunisiaJ. Dyn. Sys., Meas., Control. Mar 2009, 131(2): 021006 (8 pages)
Published Online: February 4, 2009
Article history
Received:
April 4, 2007
Revised:
August 31, 2008
Published:
February 4, 2009
Citation
Ghommam, J., Mnif, F., Benali, A., and Derbel, N. (February 4, 2009). "Nonsingular Serret–Frenet Based Path Following Control for an Underactuated Surface Vessel." ASME. J. Dyn. Sys., Meas., Control. March 2009; 131(2): 021006. https://doi.org/10.1115/1.3023139
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