Control of Unmanned Surface Vehicle along the desired trajectory using improved Line of Sight and estimated sideslip angle

• Autorzy: Li Ligang , Pei Zhiyuan , Jin Jiucai , Dai Yongshou

Identyfikatory

DOI

10.2478/pomr-2021-0017

• Języki publikacji: EN

Abstrakty

EN

In order to improve the accuracy and robustness of path following control for an Unmanned Surface Vehicle (USV) suffering from unknown and complex disturbances, a variable speed curve path following a control method based on an extended state observer was proposed. Firstly, the effect of the environmental disturbances on the USV is equivalent to an unknown and time-varying sideslip angle, and the sideslip angle is estimated by using the extended state observer (ESO) and compensated in the Line of Sight (LOS) guidance law. Secondly, based on the traditional LOS guidance law, the design of the surge velocity guidance law is added to enable the USV to self-adjust the surge velocity according to the curvature of the curve path, thus further improving the tracking accuracy. Finally, the heading and speed controller of the USV is designed by using a sliding mode control to track the desired heading and speed accurately, and then the path following control of the USV’s curve path is realised. Simulation results verify the effectiveness of the proposed method.

Słowa kluczowe

EN

USV; curve path following control; surge velocity guidance law; extended state observer; sliding mode control

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2021
• Tom: nr 2
• Strony: 18--26
• Opis fizyczny: Bibliogr. 17 poz., rys.

Twórcy

autor

Li Ligang

• China University of Petroleum 66 Changjiang West Road 266580 Qingdao China

autor

Pei Zhiyuan

• China University of Petroleum 66 Changjiang West Road 266580 Qingdao China

autor

Jin Jiucai

• First Institute of Oceanography Ministry of Natural Resources No. 6 Xianxialing Road 266061 Qingdao China

autor

Dai Yongshou

• China University of Petroleum 66 Changjiang West Road 266580 Qingdao China

Bibliografia

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• 3. A.M. Lekkas, Guidance and path-planning systems for autonomous vehicles, Norway: Norwegian University of Science and Technology, 2014.
• 4. Y. Qu, H. Xu, W. Yu, et al., “Integral Line-of-sight Guidance for Path Following of Underactuated Marine Surface Vessels,” Journal of Wuhan University of Technology (Transportation Science & Engineering), vol. 40, pp. 834–838, October 2016.
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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).