Path following control of the underactuated USV based on the improved line-of-sight guidance algorithm

• Autorzy: Liu T. , Dong Z. , Du H. , Song L. , Mao Y.
• Języki publikacji: EN

Abstrakty

EN

The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS) guidance algorithm is proposed which can adjust adaptively based on the path following error. The global asymptotically stable path following controller is designed based on the nonlinear backstepping method and the Lyapunov stability theory. Firstly, the USV path following error model is established in the Serret-Frenet (SF) coordinate frame. The path following error in the inertial coordinate frame is transformed into the SF coordinate frame, which is used to define the path following control problem. Secondly, inspired by the traditional LOS guidance algorithm, the longitudinal path following error in the SF coordinate frame is introduced into the improved LOS guidance algorithm. This allows the algorithm to adjust adaptively to the desired path. Thirdly, in order to solve the underactuated problem of the USV path following control system, the tangential velocity of the desired path is designed as a virtual input. The underactuated problem is converted to a virtual fully actuated problem by designing the virtual control law for the tangential velocity. Finally, by combining backstepping design principles and the Lyapunov stability theory, the longitudinal thrust control law and the yaw torque control law are designed for the underactuated USV. Meanwhile, the global asymptotic stability of the path following error is proved. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.

Słowa kluczowe

EN

unmanned surface vessel (USV); path following control; Serret-Frenet coordinate frame; underactuated system; improved lineof-sight guidance algorithm; nonlinear backstepping method

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2017
• Tom: nr 1
• Strony: 3--11
• Opis fizyczny: Bibliogr. 23 poz., rys.

Twórcy

autor

Liu T.

• College of Automation, Harbin Engineering University, China

autor

Dong Z.

• Ship Engineering Department School of Transportation, Wuhan University of Technology Heping Road, 430000 Wuhan China

autor

Du H.

• College of Automation, Harbin Engineering University, China

autor

Song L.

• Ship Engineering Department, School of Transportation, Wuhan University of Technology, China

autor

Mao Y.

• Ship Engineering Department, School of Transportation, Wuhan University of Technology, China

Bibliografia

• 1. Sohn S.I., Oh J.H., Lee Y.S., et al. Design of a full-cellpowered catamaran-type unmanned surface vehicle. IEEE Journal of Oceanic Engineering, 2015, 40(2): 388-396.
• 2. Dong Z.P., Wan L., Liu T., et al. Horizontal-plane trajectory-tracking control of an unmanned maritime vehicle in the presence of ocean currents. International Journal of Advanced Robotic Systems, 2016, 13: 83, 1-14.
• 3. Larrazabal J.M., Penas M.S. Intelligent rudder control of an unmanned surface vessel. Expert Systems with Applications, 2016, 55: 106-117.
• 4. Do K.D., Jiang Z.P., Pan J. Robust adaptive path following of underactuated ships. Automatica, 2004, 40(6): 929-944.
• 5. Aguiar A.P., Hespanha J.P. Trajectory-tracking and pathfollowing of underactuated autonomous vehicles with parametric modeling uncertainty. IEEE Transactions on Automatic Control, 2007, 52(8): 1362-1379.
• 6. Li J.H., Lee P.M., Jun B.H., Lim Y.K. Point-to-point navigation of underactuated ships. Automatica, 2008, 44(12): 3201-3205.
• 7. Oh S.R., Sun J. Path following of underactuated marine surface vessels using line-of-sight based model predictive control. Ocean Engineering, 2010, 37(2-3): 289-295.
• 8. Liljeback P., Haugstuen I.U., Pettersen K.Y. Path following control of planar snake robots using a cascaded approach. IEEE Transactions on Control Systems Technology, 2012, 20(1): 111-126.
• 9. Zhang G.Q., Zhang X.K. Concise robust adaptive pathfollowing control of underactuated ships using DSC and MLP. IEEE Journal of Oceanic Engineering, 2014, 39(4): 685-694.
• 10. Zhang G.Q., Zhang X.K. A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning. ISA Transactions, 2015, 56: 75-85.
• 11. Zhang G.Q., Zhang X.K., Zheng Y.F. Adaptive neural path-following control for underactuated ships in fields of marine practice. Ocean Engineering, 2015, 104: 558-567.
• 12. Do K.D. Global path-following control of stochastic underactuated ships: a level curve approach. Journal of Dynamic Systems Measurement and Control-Transactions of the ASME, 2015, 137(7): 071010, 1-10.
• 13. Liu C., Sun J., Zou Z.J. Integrated line of sight and model predictive control for path following and roll motion control using rudder. Journal of Ship Research, 2015, 59(2): 99-112.
• 14. Fossen T.I., Pettersen K.Y., Galeazzi R. Line-of-sight path following for dubins paths with adaptive sideslip compensation of drift forces. IEEE Transactions on Control Systems Technology, 2015, 23(2): 820-827.
• 15. Shojaei K. Neural adaptive robust control of underactuated marine surface vehicles with input saturation. Applied Ocean Research, 2015, 53: 267-278.
• 16. Dong Z.P., Wan L., Li Y.M., et al. Trajectory tracking control of underactuated USV based on modified backstepping approach. International Journal of Naval Architecture and Ocean Engineering, 2015, 7(5): 817-832.
• 17. Do K.D. Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances. Ocean Engineering, 2016, 111: 267-278.
• 18. Liang X., Wan L., Blake J.I.R., et al. Path following of an underactuated AUV based on fuzzy backstepping sliding mode control. International Journal of Advanced Robotic Systems, 2016, 13: 122, 1-11.
• 19. Faulwasser T., Findeisen R. Nonlinear model predictive control for constrained output path following. IEEE Transactions on Automatic Control, 2016, 61(4): 1026-1039.
• 20. Zheng Z.W., Sun L. Path following control for marine surface vessel with uncertainties and input saturation. Neurocomputing 2016, 177: 158-167.
• 21. Xu H.T., Soares C.G. Vector field path following for surface marine vessel and parameter identification based on LS-SVM. Ocean Engineering, 2016, 113: 151-161.
• 22. Fossen T.I. Handbook of marine craft hydrodynamics and motion control. New York: John Wiley & Sons. 2011.
• 23. Isidori, A. Nonlinear control systems. Berlin: Springer Science & Business Media, 1995.

Uwagi

PL

Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę (zadania 2017)