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

Liu, Tao; Dong, Zaopeng; Hong-wang, DU; Song, Lifei; Mao, Yunsheng

doi:10.1515/pomr-2017-0001

Cited by 63 publications

(41 citation statements)

References 24 publications

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“…Intermediate error variable $ 2 could converge to 0 under the path following control laws of t u and t r designed in equations (15) and (16), which would be proved in the 'Stability analysis of path following control algorithm' section. Combing with the LaSalle invariance principle in Isidori, 40 the first equation of system (9) could be described as follows…”

Section: Path Following Control Laws Design Of T U and T Rmentioning

confidence: 85%

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

Zhang

Sun

Zhuang

et al. 2019

International Journal of Advanced Robotic Systems

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Path following control system of an underactuated unmanned marine vehicle is an important guarantee for its successful operation, the path following control problem of an underactuated and asymmetrical unmanned marine vehicle sailing in the presence of ocean current disturbances is addressed. Asymmetry of the unmanned marine vehicle model and higher order velocity coupling terms of damping coefficients of the unmanned marine vehicle are discussed, which would improve the accuracy of the path following control system. A kind of global differential homeomorphism transformation design is proposed to solve the difficulty of nonzero term appearing in the non-diagonal elements of the system inertia coefficient matrix and damping coefficient matrix, which is caused by the model asymmetry of unmanned marine vehicle. An improved line-of-sight guidance algorithm is presented by introducing longitudinal position error and tracking error weight factor into traditional line-of-sight algorithm, which could speed up the path following process, meanwhile the method could be extended to the application of curve path following. Virtual velocity in the tangent direction of the path to be followed is designed for the control system, by increasing a virtual control input, the underactuated control system is simplified, and the higher order velocity coupling terms of damping coefficients are integrated considered in the virtual control law. Stability of the path following control algorithm proposed for unmanned marine vehicle is proved by Lyapunov theory, and some simulation experiments are carried out to verify the effectiveness of the path following control system designed.

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Section: Path Following Control Laws Design Of T U and T Rmentioning

confidence: 85%

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

Zhang

Sun

Zhuang

et al. 2019

International Journal of Advanced Robotic Systems

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show abstract

“…Consider the kinematic and dynamic models of underactuated USV which are given by (1) and (2). The proposed path following control laws (23) and (28) and adaptive laws (25) and (30) can guarantee that all errors are semiglobally uniformly ultimately bounded.…”

Section: Theoremmentioning

confidence: 99%

“…USV is attracting more and more attention of researchers from all over the world because of its extensive applications in the military and civilian areas [1]. In military field, it can perform minesweeping, eavesdropping, tracking, and other missions in a harsh environment, where it is not suitable for people to participate in the tasks.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances

Wang

Fan

et al. 2018

Mathematical Problems in Engineering

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This paper investigates the path following control problem for an underactuated unmanned surface vehicle (USV) in the presence of dynamical uncertainties and time-varying external disturbances. Based on fuzzy optimization algorithm, an improved adaptive line-of-sight (ALOS) guidance law is proposed, which is suitable for straight-line and curve paths. On the basis of guidance information provided by LOS, a three-degree-of-freedom (DOF) dynamic model of an underactuated USV has been used to design a practical path following controller. The controller is designed by combining backstepping method, neural shunting model, neural network minimum parameter learning method, and Nussbaum function. Neural shunting model is used to solve the problem of “explosion of complexity,” which is an inherent illness of backstepping algorithm. Meanwhile, a simpler neural network minimum parameter learning method than multilayer neural network is employed to identify the uncertainties and time-varying external disturbances. In particular, Nussbaum function is introduced into the controller design to solve the problem of unknown control gain coefficient. And much effort is made to obtain the stability for the closed-loop control system, using the Lyapunov stability theory. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.

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“…[5][6][7][8] In practical implementation, many UMVs are designed of underactuated configurations due to practical considerations, for example, reducing weight and/or cost. [9][10][11][12] Point stabilization is the most basic case of the motion control of UMV, where the desired position and attitude are chosen to be constant, and it is the important foundation of path following and trajectory tracking of UMV. [13][14][15] A state feedback-based backstepping control algorithm is proposed by Dong et al to address the point stabilization control problem for an underactuated AUV, where an additional error integral action is incorporated for enhancing the steady state performance of the AUV control system.…”

Section: Introductionmentioning

confidence: 99%

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Dong

Wang

Song

et al. 2019

International Journal of Advanced Robotic Systems

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Point stabilization control of a class of asymmetric underactuated high-speed unmanned marine vehicle is discussed, and a robust exponential stabilization control algorithm is proposed based on homogeneous theory, average system theory, and nonlinear backstepping technology. Firstly, point stabilization control problem of a high-speed underactuated unmanned marine vehicle with model asymmetry is formulated, and then global differential homeomorphism transformation is designed, in order to overcome the difficulties caused by unmanned marine vehicle with model asymmetry. Secondly, the control system is transformed into the standard form of homogeneous interference system by output state variable transformation design and input transformation design. A novel interference function is designed, and then difficulties caused by the higher order velocities in damping coefficients are solved, via homogeneous stability design and homogeneity degree analyzing the expansion of the designed new state variables. Thirdly, by introducing the virtual input of backstepping and the average system theory, point stabilization controller for the underactuated high-speed unmanned marine vehicle is proposed based on homogeneous theory, which could achieve global and periodic time-varying robust exponential stability, and then stability of the point stabilization control algorithm is proved by using homogeneous stability theory and average system stability theory. At last, the effectiveness and accuracy of the control algorithm proposed is verified by semi-physical simulation experiment carried out in our laboratory.

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

Abstract: The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS

Cited by 63 publications

References 24 publications

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

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