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      VECTOR FIELD GUIDANCE LAW FOR CURVED PATH FOLLOWING OF AN UNDERACTUATED AUTONOMOUS SHIP MODEL

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      International Journal of Maritime Engineering
      University of Buckingham Press

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          Abstract

          A vector field guidance law and control system for curved path following of an underactuated surface ship model is presented in this paper. In order to obtain the curved path, continuous derivatives piecewise cubic Hermite interpolation is applied for path generation based on the predefined waypoints. A heading autopilot controller is designed based on 2nd order Nomoto’s model and its stability is guaranteed by the Diagram of Vyshnegradsky method. The parameters of Nomoto model are estimated using least square support vector machine based on the manoeuvring tests. The vector field guidance law is applied for both straight and curved path-following control of an underactuated surface ship model. In order to demonstrate the performance, the classical guidance law based on line-of-sight, is adopted for comparison. The results show that the vector field method is capable to solve the guidance problem of underactuated surface ships.

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          Author and article information

          Journal
          International Journal of Maritime Engineering
          IJME
          University of Buckingham Press
          1479-8751
          1479-8751
          December 13 2021
          December 13 2021
          : 162
          : A3
          Article
          10.5750/ijme.v162iA3.1135
          e093d2df-e2b3-489b-8381-c38deac7ef65
          © 2021
          History

          General engineering,Engineering,Civil engineering,Mechanical engineering
          General engineering, Engineering, Civil engineering, Mechanical engineering

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