Adaptive neural path-following control for underactuated ships in fields of marine practice

Zhang, Guoqing; Zhang, Xianku; Zheng, Yongjun

doi:10.1016/j.oceaneng.2015.05.013

Cited by 111 publications

(72 citation statements)

References 30 publications

(50 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Analyzing the obtained experimental results on the background of the available literature reveals the following advantages of the designed controller: Compared with the literature [7,8,11,14], the path convergence speed of the path following control method is faster, the convergence performance before entering the path is better, and the overshoot is smaller. Compared with the literature [9,10,12,16], the vibration of the controller is relatively smaller and the stability is better.…”

Section: Simulation Experimentsmentioning

confidence: 98%

“…Starting from the waypoint based path following control for marine ships, a novel dynamic virtual ship (DVS) guidance principle is developed in [10] after implementing the assumption that "the reference path is generated using a virtual ship", which is critical for applying these theoretical studies in practice. The problem of robust adaptive path following control for uncertain underactuated ships in the waypoint based navigation, which is a field of marine practice, is studied in [11]. A novel logical virtual ship (LVS) based steering law is developed to program the rational reference route which is then used to guide an underactuated ship in practical engineering.…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, some of the published research results have been derived by combining the traditional LOS approach and nonlinear control methods [7,13,14,20,]. It is noteworthy that some researchers execute path following control using complex system state transform techniques and intelligent learning algorithms which are difficult to design and not easy to implement in the real path following control system [4,6,[9][10][11][12][15][16][17][18][19]21]. Motivated by those considerations, this paper addresses path following control of an underactuated USV based on an improved LOS guidance algorithm.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

Liu¹,

Dong

Hong-wang³

et al. 2017

Polish Maritime Research

View full text Add to dashboard Cite

show abstract

Section: Simulation Experimentsmentioning

confidence: 98%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

Liu¹,

Dong

Hong-wang³

et al. 2017

Polish Maritime Research

View full text Add to dashboard Cite

show abstract

“…At the same time, in the previous literatures [39][40][41], unknown dynamics and external disturbances are compensated separately. However, in this paper, unknown dynamics and time-varing disturbances are packaged together for compensation, which, to a certain extent, can reduce the computation of controller and make it more convenient for engineering implementation.…”

Section: Remarkmentioning

confidence: 99%

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Wang

Fan

et al. 2018

Applied Sciences

View full text Add to dashboard Cite

This paper proposes an adaptive trajectory tracking control strategy for underactuated unmanned surface vehicles subject to unknown dynamics and time-varing external disturbances. In short, the goal of this paper is to provide a control strategy that allows an underactuated unmanned surface vehicle to track a time dependent trajectory. First, a first-order sliding surface is introduced into the design of surge control law to converge to surge tracking error, and then a second-order sliding surface is hired to design yaw control law to deal with sway motion tracking error. Meanwhile, neural network minimum learning parameter method, which has a smaller amount of computation than a multilayer neural network, is employed to preserve the control law robustness against unknown dynamics and time-varing disturbances induced by wind, waves and ocean currents. Furthermore, much effort is made to obtain uniform ultimate bounded stability for the closed-loop control system. Finally, the numerical simulation experiments of straight line and circle trajectory tracking have been given to prove the correctness and feasibility of the proposed control strategy.

show abstract

“…Considering low maneuverability characteristics, it is more practical to study the path tracking control problem. The path or route of an ASV is usually specified in terms of way-points [24][25][26]. Each way-point is defined in Cartesian coordinates and the reference path is then made up by straight lines connecting the way-points.…”

Section: Introductionmentioning

confidence: 99%

Command filtered path tracking control of saturated ASVs based on time‐varying disturbance observer

Gao

Guo

2019

Asian Journal of Control

View full text Add to dashboard Cite

This paper investigates the path-tracking control problem for an autonomous surface vessel (ASV) with unknown time-varying disturbances and input saturation. A robust nonlinear control law is proposed based on a disturbance observer and an auxiliary system in the context of command filtered control.The disturbance observer is constructed to estimate the unknown time-varying disturbances, the auxiliary dynamic system is employed to handle input saturation, and the compensator based command filtered control technique makes the designed path-tracking control law simple and easy to implement in practice. It is proved that the nonlinear control law can track the desired vessel's position and heading, while guaranteeing the uniform ultimate boundedness of all signals in the path-tracking control system. Simulation results further demonstrate the effectiveness of the method.

show abstract

Adaptive neural path-following control for underactuated ships in fields of marine practice

Cited by 111 publications

References 30 publications

Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Command filtered path tracking control of saturated ASVs based on time‐varying disturbance observer

Contact Info

Product

Resources

About