Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation

Liu, Lu; Peng, Zhouhua; Wang, Dan

doi:10.1016/j.oceaneng.2016.07.057

Cited by 130 publications

(50 citation statements)

References 19 publications

(31 reference statements)

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“…MPC can be used for LOS navigation law besides ship motion control itself. For example, optimizing LOS navigation parameters, obtaining adaptive time-varying advance distance [95], or designing predictor-based LOS (PLOS), updating adaptive terms online according to prediction errors, to provide a more accurate guidance course [138]. The principle of MPC and its improvement combined with other algorithms are shown in Figure 9.…”

Section: Model Prediction Control Algorithmmentioning

confidence: 99%

State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

Wang

Liu

et al. 2019

JMSE

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At present, with the development of waterborne transport vehicles, research on ship faces a new round of challenges in terms of intelligence and autonomy. The concept of maritime autonomous surface ships (MASS) has been put forward by the International Maritime Organization in 2017, in which MASS become the new focus of the waterborne transportation industry. This paper elaborates on the state-of-the-art research on motion control of MASS. Firstly, the characteristics and current research status of unmanned surface vessels in MASS and conventional ships are summarized, and the system composition of MASS is analyzed. In order to better realize the self-adaptability of the MASS motion control, the theory and algorithm of ship motion control-related systems are emphatically analyzed under the condition of classifying ship motion control. Especially, the application of intelligent algorithms in the ship control field is summarized and analyzed. Finally, this paper summarizes the challenges faced by MASS in the model establishment, motion control algorithms, and real ship experiments, and proposes the composition of MASS motion control system based on variable autonomous control strategy. Future researches on the accuracy and diversity of developments and applications to MASS motion control are suggested.

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Section: Model Prediction Control Algorithmmentioning

confidence: 99%

State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

Wang

Liu

et al. 2019

JMSE

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“…To cope with the sideslip angle interference and compensate for its influence, advanced theory has been studied by many scholars [10,11]. The most straightforward way to solve the problem is to measure the value of the sideslip angle.…”

Section: Introductionmentioning

confidence: 99%

“…It is worth noting that the along-tracking error was set to zero in this paper. In [10], the authors designed a new prediction LOS (PLOS) guidance law for the path following of underactuated marine surface vehicles. Prediction errors were used to identify the unknown sideslip angle, and two additional adjustable parameters were provided to enable smooth and fast estimation.…”

Section: Introductionmentioning

confidence: 99%

“…The role of the differential of the cross-track error is to provide early judgment, which can enhance the robustness of the system. For the control problems, although many advanced algorithms were discussed [9,10,15,16], most of them are limited to the theoretical level. Currently, in practice, the most widely used algorithm is the PID controller.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Path following for podded propulsion unmanned surface vehicle: Theory, simulation and experiment

Wang

Fan

et al. 2018

IEEJ Transactions Elec Engng

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This paper addresses three interrelated problems concerning the path following of a podded propulsion unmanned surface vessel (USV), namely, the modeling of podded propulsion USV, the model parameter identification and the guidance law design. Based on hypotheses and simplification, three degree of freedom (DOF) manipulating mathematical model group (MMG) models of podded propulsion USV are reduced to the response model, and then, a series of field experiments (turning experiment and zig-zag experiment) is carried out to collect corresponding data. On this basis, the parameters of the model are obtained through the method of system identification. Meanwhile, the simulation data are compared with the actual data to verify the accuracy of the identification results. The conventional line-of-sight guidance is modified by adaptive sideslip angle and a time-varying lookahead distance, where the lookahead distance is adjusted by fuzzy algorithm. Lyapunov function is used to prove that all error signals in the system are uniformly ultimately bounded. Three numerical examples and the real ship field experiment have been described to illustrate the performance and effectiveness of the proposed scheme.

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“…Recently, advanced motion control of marine vehicles has received significant attention due to its wide applications in hydrological monitoring, channel exclusion, search and rescue, biological detection, and so on [1][2][3][4][5][6][7]. Numerous motion control scenarios of marine vehicles have been considered including path following [8][9][10][11][12][13][14][15][16][17][18][19][20][21], path tracking [22,23], trajectory tracking [4,[24][25][26], and target tracking [2,[27][28][29][30][31][32][33][34]. Target tracking is to track a maneuvering target where no information about the target behavior is known in advance except its instantaneous motion.…”

Section: Introductionmentioning

confidence: 99%

Extended-State-Observer-Based Collision-Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

2018

Self Cite

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This paper is concerned with the target tracking problem of an autonomous surface vehicle in the presence of a maneuvering target. The velocity information of target is totally unknown to the follower vehicle, and only the relative distance and angle between the target and follower are obtained. First, a reduced-order extended state observer is used to estimate the unknown relative dynamics due to the unavailable velocity of the target. Based on the reduced-order extended state observer, an antidisturbance guidance law for target tracking is designed. The input-to-state stability of the closed-loop target tracking guidance system is analyzed via cascade theory. Furthermore, the above result is extended to the case that collisions between the target and leader are avoided during tracking, and a collision-free target tracking guidance law is developed. The main feature of the proposed guidance law is twofold. First, the target tracking can be achieved without using the velocity information of the target. Second, collision avoidance can be achieved during target tracking. Simulation results show the effectiveness of the proposed antidisturbance guidance law for tracking a maneuvering target with the arbitrary bounded velocity.

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Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation

Cited by 130 publications

References 19 publications

State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

State-of-the-Art Research on Motion Control of Maritime Autonomous Surface Ships

Path following for podded propulsion unmanned surface vehicle: Theory, simulation and experiment

Extended-State-Observer-Based Collision-Free Guidance Law for Target Tracking of Autonomous Surface Vehicles with Unknown Target Dynamics

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