Publicações

Xu, H.T. e Guedes Soares, C. (2016), “Vector Field Path Following for Surface Marine Vessel and Parameter Identification based on LS-SVM”, Ocean Engineering, Vol. 113, pp. 151-161

A two- dimensional path following control system for autonomous surface vehicles is presented. The guidance system is obtained through a way-point guidance scheme based on a vector field algorithm. Vector field is a simple and robust method and its stability is proved using Lyapunov stability criteria. The 2- degree of freedom (sway-yaw) linear manoeuvring model is chosen as the control model and the parameters are obtained by using the least-square support vector regression. The sensitivity of the vector field algorithm to its parameters is studied and simulation tests are presented to compare the performance of the tradition line-of-sight scheme and vector field algorithm. The results show that the vector field has a better performance for autonomous surface vehicle’s path following control, is a practical and robust method for accurate path following, and can be extended to higher dimensional control and guidance problems.

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