کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
1727505 1520777 2007 12 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Path following control system for a tanker ship model
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی مهندسی دریا (اقیانوس)
پیش نمایش صفحه اول مقاله
Path following control system for a tanker ship model
چکیده انگلیسی

A two-dimensional path following control system for autonomous marine surface vessels is presented. The guidance system is obtained through a way-point guidance scheme based on line-of-sight projection algorithm and the speed controller is achieved through state feedback linearization. A new approach concerning the calculation of a dynamic line-of-sight vector norm is presented which main idea is to improve the speed of the convergence of the vehicle to the desired path. The results obtained are compared with the traditional line-of-sight scheme. It is intended that the complete system will be tested and implemented in a model of the “Esso Osaka” tanker. The results of simulations are presented here showing the effectiveness of the system aiming in to be robust enough to perform tests either in tanks or lakes.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Ocean Engineering - Volume 34, Issues 14–15, October 2007, Pages 2074–2085
نویسندگان
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