Reference path generation and tracking of marine vehicles
Panoff, Timothy J.
Papoulias, Fotis A.
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This thesis analyzes the problem of accurate path following for marine vehicles. The reference path is generated automatically through the use of a critically damped second order model. An appropriate shift in the time axis allows a smooth path with zero overshoot regardless of the initial conditions. Control design for the physical system is achieved through the use of optimum control and linear quadratic regulator techniques. Results are presented for general maneuvering scenarios in the horizontal plane and demonstrate the validity of the methods used in the research.
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