Abdurahman, BilalSavvaris, AlTsourdos, Antonios2018-01-032018-01-032017-07-31Abdurahman B, Savvaris A, Tsourdos A. (2017) switching LOS guidance with relative kinematics for path-following of underactuated underwater vehicles. IFAC-PapersOnLine, Volume 50, Issue 1, 2017, pp. 2290-22952405-8963https://doi.org/10.1016/j.ifacol.2017.08.228https://dspace.lib.cranfield.ac.uk/handle/1826/12836This paper presents a switching heuristic for the enclosure-based line-of-sight (ELOS) guidance and the concept of relative kinematics. The switching scheme proposed addresses the need for additional path-approaching strategies required in ELOS guidance in case of large cross-track errors. A nonlinear controller is applied to solve the path-following problem as a maneuvering problem, and the resulting guidance system with the relative kinematics perform well in compensating for drift caused by strong ocean currents. Stability and convergence analysis of the closed-loop systems are also provided along with simulation results showing straight-line waypoint-following performance of an AUV.enAttribution-NonCommercial-NoDerivatives 4.0 Internationalhttp://creativecommons.org/licenses/by-nc-nd/4.0/line-of-sight guidancecurrent compensationunderwater vehiclesAUVspath-following controlConference paper