文章基本信息

标题：A Comparison Between the ILOS Guidance and the Vector Field Guidance
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作者：Walter Caharija ; Kristin Y. Pettersen ; Pedro Calado 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：16
页码：89-94
DOI：10.1016/j.ifacol.2015.10.263
语种：English
出版社：Elsevier
摘要：AbstractThis paper presents a quantitative comparison between two popular guidance laws for straight line path-following purposes of autonomous marine vehicles: the integral line-of-sight (ILOS) guidance law and the vector field (VF) guidance law. The comparison is based on experimental results and the cross track error measurements as well as the servo command signals are considered in the analysis. Both the guidance schemes are applied to the underactuated LAUV vehicle in the same environmental conditions with the same speed and heading controllers. The comparison separates between transient and steady-state behaviour, with focus on the latter. In particular, the cross-track error transfer functions for small time varying disturbances are derived for the two guidance schemes at equilibrium and similarities are found with the experimental results. The analysis concludes good path following performance for both the VF and the ILOS guidance laws, with the VF controller performing slightly better. However, the VF guidance scheme suffers from significant chattering on the horizontal rudders while the ILOS guidance law gives very smooth servo commands.
关键词：KeywordsPath followingAutonomous underwater vehicleNonlinear controlLOS guidanceExperimentsSignal processing