Guidance Systems for Path Following

The research project on path-following control systems covers line-of-sight (LOS) guidance systems including integral LOS, adaptive LOS and vector-field guidance laws. Other methods include passivation designs, Lagrangian multipliers, output maneuvering and cooperative path following.

Fig 1. Feedback interconnection showing the autopilot and the LOS guidance law.

Fig 2. LOS geometry.

Line-of-Sight (LOS) and Vector-Field Guidance Laws

• Fortuna, J. and T. I. Fossen (2015). Cascaded Line-of-Sight Path-Following and Sliding Mode Controllers for Fixed-Wing UAVs. IEEE Conference on Control Applications (CCA), 798-803.
  Preprint  doi.org/10.1109/CCA.2015.7320715
• Fossen, T. I. (2022). Line-of-sight Path-following Control utilizing an Extended Kalman Filter for Estimation of Speed and Course over Ground from GNSS Positions. Journal of Marine Science and Technology 27, 806–813.
  Open Access   doi.org/10.1007/s00773-022-00872-y
• Fossen, T. I. (2023). An Adaptive Line-of-sight (ALOS) Guidance Law for Path Following of Aircraft and Marine Craft. IEEE Transactions on Control Systems Technology 31(6), 2887-2894.
  Open Access   doi.org/10.1109/TCST.2023.3259819
• Fossen, T. I. and A. Lekkas (2015). Direct and Indirect Adaptive Integral Line-of-Sight Path-Following Controllers for Marine Craft Exposed to Ocean Currents. International Journal of Adaptive Control and Signal Processing 31(4), 445–463.
  Preprint  doi.org/10.1002/acs.2550
• Fossen, T. I. and A. P. Aguiar (2024). A Uniform Semiglobal Exponential Stable Adaptive Line-of-Sight (ALOS) Guidance Law for 3-D Path Following. Automatica 163, 111556.
  Open Access   doi.org/10.1016/j.automatica.2024.111556
• Fossen, T. I. and K. Y. Pettersen (2014). On Semiglobal Exponential Stability (USGES) of Proportional Line-of-Sight Guidance Laws. Automatica 50(11), 2912-2917.
  Preprint  doi.org/10.1016/j.automatica.2014.10.018
• Fossen, T. I., K. Y. Pettersen and R. Galeazzi (2015). Line-of-Sight Path Following for Dubins Paths with Adaptive Sideslip Compensation of Drift Forces. IEEE Transactions on Control Systems Technology 23(2), 820-827.
  Preprint  doi.org/10.1109/TCST.2014.2338354
• Fossen, T.I., M. Breivik and R. Skjetne (2003). Line-of-Sight Path Following of Underactuated Marine Craft. 6th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC), 211-216.
  Open Access   doi.org/10.1016/S1474-6670(17)37809-6
• Lekkas, A. M. and T. I. Fossen (2014). Integral LOS Path Following for Curved Paths Based on a Monotone Cubic Hermite Spline Parametrization. IEEE Transactions on Control Systems Technology 22(6), 2287-2301.
  Preprint  doi.org/10.1109/TCST.2014.2306774
• Lekkas, A. M. and T. I. Fossen (2013). A Quaternion-Based LOS Guidance Scheme for Path Following of AUVs. 9th IFAC Conference on Control Applications in Marine Systems (CAMS), 245-250.
  Open Access   doi.org/10.3182/20130918-4-JP-3022.00070
• Lekkas, A. M. and T. I. Fossen (2012). A Time-Varying Lookahead Distance Guidance Law for Path Following. 9th IFAC Conference on Manoeuvring and Control of Marine Craft (MCMC), 398-403.
  Open Access   doi.org/10.3182/20120919-3-IT-2046.00068
• Lekkas, A. M. and T. I. Fossen. (2013). Line-of-Sight Guidance for Path Following of Marine Vehicles. In: Gal, O. (ed.). Advanced in Marine Robotics. LAP LAMBERT Academic Publishing, 63-92.
  
• Moe, S., K. Y. Pettersen, T. I. Fossen and J. T. Gravdahl (2016). Line-of-Sight Curved Path Following for Underactuated USVs and AUVs in the Horizontal Plane under the influence of Ocean Currents. 24th Mediterranean Conference on Control and Automation (MED), 38-45.
  Preprint  doi.org/10.1109/MED.2016.7536018
• Xu, H., T. I. Fossen and C. Guedes Soares (2021). Uniformly Semiglobally Exponential Stability of Vector Field Guidance Law and Autopilot for Path Following. European Journal of Control 53, 88-97.
  Preprint  doi.org/10.1016/j.ejcon.2019.09.007

Passivation Designs, Lagrangian Multipliers, Output Maneuvering and Cooperative Control

• Breivik, M. and T. I. Fossen (2005). Guidance-Based Path Following for Wheeled Mobile Robots. 16th IFAC World Congress, 13-18.
  Open Access   doi.org/10.3182/20050703-6-CZ-1902.02054
• Breivik, M. and T. I. Fossen (2005). Principles of Guidance-Based Path Following in 2D and 3D. 44th IEEE Conference on Decision and Control (CDC), 627-634.
  Preprint  doi.org/10.1109/CDC.2005.1582226
• Breivik, M. and T. I. Fossen (2005). Guidance-Based Path Following for Autonomous Underwater Vehicles. OCEANS 2005 MTS/IEEE, Vol. 3, 2807-2814.
  Preprint  doi.org/10.1109/OCEANS.2005.1640200
• Breivik, M. and T. I. Fossen (2004). Path Following of Straight Lines and Circles for Marine Surface Vessels. 6th IFAC Conference on Control Applications in Marine Systems (CAMS), 65-70.
  Open Access   doi.org/10.1016/S1474-6670(17)31709-3
• Breivik, M. and T. I. Fossen (2004). Path Following for Marine Surface Vessels. MTTS/IEEE TECHNO-OCEAN '04, Vol. 4, 2282-2289.
  Preprint  doi.org/10.1109/OCEANS.2004.1406507
• Coates, E. M., T. Hamel and T. I. Fossen (2023). Almost Global Three-Dimensional Path-Following Guidance Law for Arbitrary Curved Paths. 62nd IEEE Conference on Decision and Control (CDC), 2630-2636.
  Preprint  doi.org/10.1109/CDC49753.2023.10384138
• Degorre, L., T. I. Fossen, E. Delaleau and O. Chocron (2024). A Virtual Reference Point Kinematic Guidance Law for 3-D Path-Following of Autonomous Underwater Vehicles. IEEE Access 12, 109822-109831.
  Open Access   doi.org/10.1109/ACCESS.2024.3440659
• Fossen, T. I. (2012). Nonlinear Maneuvering Theory and Path-Following Control. In: Soares, C. G., Y. Garbatov, N. Fonseca and A.P. Texeira (eds.). Marine Technology and Engineering, Two Volume Set CENTEC Anniversary Book. CRC Press.
  
• Ihle, I.-A., M. Arcak and T. I. Fossen (2007). Passivation Designs for Synchronized Path Following. Automatica 43(9), 1508-1518.
  Preprint  doi.org/10.1016/j.automatica.2007.02.018
• Ihle, I.-A., M. Arcak and T. I. Fossen (2006). Passivation Designs for Synchronized Path Following. 45th IEEE Conference on Decision and Control (CDC), 4319-4326.
  Preprint  doi.org/10.1109/CDC.2006.377782
• Klausen, K. T. I. Fossen, T. A. Johansenz, P. Aguiar (2015). Cooperative Path-Following for Multirotor UAVs with a Suspended Payload. IEEE Conference on Control Applications (CCA), 1354-1360.
  Preprint  doi.org/10.1109/CCA.2015.7320800
• Moreira, L., T. I. Fossen and C. Guedes Soares (2007). Path Following Control System for a Tanker Ship Model. Ocean Engineering 34(14-15), 2074-2085.
  Preprint  doi.org/10.1016/j.oceaneng.2007.02.005
• Peymani, E. and T. I. Fossen (2015). Path Following of Underwater Robots using Lagrange Multipliers. Robotics and Autonomous Systems 67, 44-52.
  Preprint  doi.org/10.1016/j.robot.2014.10.011
• Peymani, E. and T. I. Fossen (2011). A Lagrangian Framework to Incorporate Positional and Velocity Constraints to Achieve Path-Following Cotrol. 50th IEEE Conference on Decision and Control (CDC), 3940-3945.
  Preprint  doi.org/10.1109/CDC.2011.6160597
• Peymani, E., H. and T. I. Fossen (2013). Speed-varying Path Following for Underactuated Marine Craft. 9th IFAC Conference on Control Applications in Marine Systems (CAMS), 79-84.
  Open Access   doi.org/10.3182/20130918-4-JP-3022.00010
• Peymani, E., H. and T. I. Fossen. (2013). 2-D Path Following for Marine Craft - A Least-Square Approach. 9th IFAC Symposium on Nonlinear Control Systems (NOLCOS), 98-103.
  Open Access   doi.org/10.3182/20130904-3-FR-2041.00095
• Skjetne, R., T. I. Fossen and P. Kokotovic (2002). Output Maneuvering for a Class of Nonlinear Systems. 15th IFAC World Congress, 501-506.
  Open Access   doi.org/10.3182/20020721-6-ES-1901.00245
• Skjetne, R., T. I. Fossen, and P. V. Kokotovic (2005). Adaptive Output Maneuvering with Experiments for a Model Ship in a Marine Control Laboratory. Automatica 41(4), 289-298.
  doi.org/10.1016/j.automatica.2004.10.006
• Skjetne, R., T. I. Fossen, and P. V. Kokotovic (2004). Robust Output Maneuvering for a Class of Nonlinear Systems. Automatica 40(3), 373-383.
  doi.org/10.1016/j.automatica.2003.10.010