scholarly journals A Model-Based Decoupling Method for Surge Speed and Heading Control in Vessel Path Following

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Xudong Wang ◽  
Jin Zhao ◽  
Tao Geng
Keyword(s):  
Path Following ◽  
Time Varying ◽  
Decoupling Method ◽  
Model Based ◽  
Speed Controller ◽  
Guidance Law ◽  
Path Following Control ◽  
Heading Control ◽  
Speed Performance ◽  
Kinetic Level

In this paper, to solve the surge speed loss problem generated by sway-yaw motion in the path-following control, a model-based decoupling (MBD) method for surge speed and heading control in vessel path following is proposed. The guidance law is designed independently in the kinematic level. In the kinetic level, the surge model and sway-yaw model can be decoupled by assuming that the surge speed varies slowly, and the heading controller and surge speed controller are designed under the framework of the MBD method. Commonly, the surge speed controller is ignored in the path following or designed separately. In the MBD method, the heading controller is designed first through the MPC method, and the coupling terms between the surge model and sway-yaw model are treated as time-varying disturbances, which can be predicted through the outcomes of the heading controller. Then, the time-varying disturbances are compensating in the surge speed controller so that the surge speed can be feedforward compensated to achieve better performance. The simulation results compared the surge speed performance in path following of the MBD method and usual approaches to illustrate the effectiveness of the MBD method.

scholarly journals Underactuated USV Path Following Mechanism Based on the Cascade Method

2021 ◽  
Author(s):  
Mingzhen Lin ◽  
Zhiqiang Zhang ◽  
Yandong Pang ◽  
Hongsheng Lin ◽  
Qing Ji
Keyword(s):  
Tracking Error ◽  
Path Following ◽  
Ocean Current ◽  
Control Law ◽  
Guidance Law ◽  
Path Following Control ◽  
Heading Control ◽  
Velocity Constraints ◽  
The Stability ◽  
Rudder Angle

Abstract The path following control under disturbance was studied for an underactuated unmanned surface vehicle (USV) subject to the rudder angle and velocity constraints. For this reason, a variable look-ahead integral line-of-sight (LOS) guidance law was designed on the basis of the disturbance estimation and compensation, and a cascade path following control system was created following the heading control law based on the model prediction. Firstly, the guidance law was designed using the USV three-degree-of-freedom (DOF) motion model and the LOS method, while the tracking error state was introduced to design the real-time estimation of disturbance observer and compensate for the influence of ocean current. Moreover, the stability of the system was analyzed. Secondly, sufficient attention was paid to the rudder angle and velocity constraints and the influence of system delay and other factors in the process of path following when the heading control law was designed with the USV motion response model and the model predictive control (MPC). The moving horizon optimization strategy was adopted to achieve better dynamic performance, effectively overcome the influence of model and environmental uncertainties, and further prove the stability of the control law. Thirdly, a simulation experiment was carried out to verify the effectiveness and advancement of the proposed algorithm. Fourthly, the “Sturgeon 03” USV was used in the lake test of the proposed control algorithm to prove its feasibility in the engineering practices.

Adaptive path following control for Wave gliders in time-varying environment

2020 ◽  
Vol 218 ◽  
pp. 108165
Author(s):  
Xiujun Sun ◽  
Ying Zhou ◽  
Hongqiang Sang ◽  
Peiyuan Yu ◽  
Shuai Zhang
Keyword(s):  
Path Following ◽  
Time Varying ◽  
Path Following Control ◽  
Time Varying Environment ◽  
Varying Environment

Improved Integral LOS Guidance and Path-Following Control for an Unmanned Robot Sailboat via the Robust Neural Damping Technique

2019 ◽  
Vol 72 (06) ◽  
pp. 1378-1398 ◽  
Author(s):  
Guoqing Zhang ◽  
Jiqiang Li ◽  
Bo Li ◽  
Xianku Zhang
Keyword(s):  
External Disturbance ◽  
Path Following ◽  
Basic Function ◽  
Lyapunov Theory ◽  
Neural Controller ◽  
Adaptive Parameter ◽  
Guidance Law ◽  
Path Following Control ◽  
Adaptive Neural Controller ◽  
Robust Adaptive

This paper introduces a scheme for waypoint-based path-following control for an Unmanned Robot Sailboat (URS) in the presence of actuator gain uncertainty and unknown environment disturbances. The proposed scheme has two components: intelligent guidance and an adaptive neural controller. Considering upwind and downwind navigation, an improved version of the integral Line-Of-Sight (LOS) guidance principle is developed to generate the appropriate heading reference for a URS. Associated with the integral LOS guidance law, a robust adaptive algorithm is proposed for a URS using Radial Basic Function Neural Networks (RBF-NNs) and a robust neural damping technique. In order to achieve a robust neural damping technique, one single adaptive parameter must be updated online to stabilise the effect of the gain uncertainty and the external disturbance. To ensure Semi-Global Uniform Ultimate Bounded (SGUUB) stability, the Lyapunov theory has been employed. Two simulated experiments have been conducted to illustrate that the control effects can achieve a satisfactory performance.

Time-Varying Vector Field Guidance Law for Path Following and Obstacle Avoidance for Underactuated Autonomous Vehicles

2019 ◽  
Author(s):  
Haitong Xu ◽  
M. A. Hinostroza ◽  
C. Guedes Soares
Keyword(s):  
Vector Field ◽  
Obstacle Avoidance ◽  
Autonomous Vehicles ◽  
Sliding Mode ◽  
Path Following ◽  
Guidance System ◽  
Time Varying ◽  
Guidance Law ◽  
Heading Angle ◽  
Vector Field Guidance

Abstract This paper presents a time-varying vector field guidance law for path-following control of underactuated autonomous vehicles. The proposed guidance law employs a time-varying equation to calculate the desired heading angle. A sliding mode controller is designed to track the desired heading angle, and it is proved to be globally exponentially stable (GES). With this controller, the stability proof for guidance system is presented and the equilibrium point of the guidance system is Uniform Global Asymptotic Stable (UGAS). In order to avoid the obstacle when ship approaching the predefined path, a combined Path-following and repelling field based obstacle avoidance system is proposed in this paper. Simulations are carried out to validate the performance of the combined path-following and collision avoidance system.

Straight Path Following Control for an Under-Actuated AUV

2014 ◽  
Vol 1030-1032 ◽  
pp. 1543-1549
Author(s):  
Yu Ling Ye
Keyword(s):  
Field Experiments ◽  
Path Following ◽  
Ocean Current ◽  
High Frequency Oscillation ◽  
Sideslip Angle ◽  
Path Following Control ◽  
Heading Control ◽  
Large Scope ◽  
Long Time ◽  
Cross Track

An engineering approach of path following control for the type of under-actuated AUV, such as REMUS, was proposed. The path following control was separated into 2 parts: heading guidance and heading control. The heading guidance was designed based on the cross-track error and line of sight guidance, and sideslip angle was proposed to compensate the disturbance of the ocean current. The turning criterion was proposed when the vehicle approach the waypoint. A PD control algorithm was presented to the heading control and its parameters variable with the speed. Simulation and field experiments data show that the vehicle follows the path accurately in the environment of current and different speed, and the vertical rudder keeps steady without large scope and high frequency oscillation which is fit for the long-time working AUV. Engineers can debug the parameters based on the experiment data efficiently for their explicit physical meaning.

Sign in / Sign up

Export Citation Format

Share Document