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dc.contributor.authorGao, Jian-
dc.contributor.authorLiu, Changxin-
dc.identifier.issn0975-1033 (Online); 0379-5136 (Print)-
dc.description.abstractAutonomous surface vehicles (ASVs) have been widely used for military, civilian and academic applications because of their low developing costs and high executing efficiency. This paper investigates the path following control problem for a low-cost ASV without velocity measurement and feedback control. A Serret-Frenet coordinate frame, which originates at a reference point on the reference path, is utilized to describe path following errors and the corresponding dynamic model. The reference point moves along the path with a designed rate, which produces an additional control input to solve the singularity problem presented in the classic method. The moving velocity of the reference point and the desired yaw angle are appropriately designed to ensure the path following errors to be globally asymptotically stable with the estimated velocity and side-slip angle by using an adaptation mechanism. The steering control of ASVs is designed using an adaptive sliding mode control technique by dealing with the uncertain parameters in yaw dynamics. The simulations and experiments with linear and circular reference paths demonstrate the feasibility and effectiveness of the proposed path following controller.en_US
dc.publisherNISCAIR-CSIR, Indiaen_US
dc.rightsCC Attribution-Noncommercial-No Derivative Works 2.5 Indiaen_US
dc.sourceIJMS Vol.44(11) [November 2015]en_US
dc.subjectAutonomous surface vehicleen_US
dc.subjectPath followingen_US
dc.subjectSerret-Frenet coordinate frameen_US
dc.titleNonlinear adaptive path following control of an autonomous surface vehicle: Theory and experimentsen_US
Appears in Collections:IJMS Vol.44(11) [November 2015]

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