A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning

Zhang, Guoqing; Zhang, Xianku

doi:10.1016/j.isatra.2014.12.002

Cited by 92 publications

(45 citation statements)

References 36 publications

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“…Compared with the literature [9,10,12,16], the vibration of the controller is relatively smaller and the stability is better. Compared with the path following controller designed in the literature [5,19,21], the present controller is more versatile and can realize both the curve path and the straight-line path following control.…”

Section: Simulation Experimentsmentioning

confidence: 80%

“…This scheme makes use of backstepping, feedforward approximations, dynamic surface control, and minimal learning parameter techniques. 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].…”

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

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show abstract

Section: Simulation Experimentsmentioning

confidence: 80%

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

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show abstract

“…is Gaussian function; ε is the approximation error of the neural network and |ε| ≤ε,ε > 0. p is the node number of neural network [32]. However, multilayer neural network needs online estimation of weight vectors of neural network, which inevitably increases the computational load of the control algorithm, that is, the so-called "curse of dimensionality".…”

Section: Neural Network Minimum Parameter Learning Methodsmentioning

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

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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.

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“…The effective attack angle of the pod α R is a small value with the unit "rad". Therefore, we can draw sin α R = α R = δ, where the propulsion angle δ = [−0.5236 rad, 0.5236 rad] [27]. Hence, if δ is a small value and L > 1, then τ v ≈ 0.…”

Section: Kinetic Equationmentioning

confidence: 99%

Adaptive LOS Path Following for a Podded Propulsion Unmanned Surface Vehicle with Uncertainty of Model and Actuator Saturation

Wang

Fan

et al. 2017

Applied Sciences

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This paper addresses three related issues concerning the path following control of a podded propulsion unmanned surface vehicle (USV), namely modeling, guidance and control. The pod is different from the general propeller-rudder propulsion device, and its essence is a vector thruster. Therefore, first, through various assumptions and simplification, the three-degree of freedom (DOFs) planar motion model of the podded propulsion USV is established. Then, the classical line-of-sight (LOS) guidance strategy is improved by adaptive sideslip angle and a time-varying lookahead distance. Based on the guidance system, the corresponding controllers for yaw rate and surge speed are presented, which are combined by backstepping technology, the neural network minimum parameter learning method and the neural shunting model. Specifically, the neural network minimum parameter learning method is proposed to compensate the uncertainty of the model and the immeasurability of external disturbances, and the neural shunting model is employed to cope with the "explosion of complexity" problem of backstepping. Meanwhile, an auxiliary dynamic system is introduced to prevent actuator saturation (input saturation). All error signals of the system are proven to be uniformly ultimately bounded (UUB) by employing Lyapunov stability theory. Finally, two numerical simulations are given to prove the correctness of the proposed scheme.

show abstract

A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning

Cited by 92 publications

References 36 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

Adaptive LOS Path Following for a Podded Propulsion Unmanned Surface Vehicle with Uncertainty of Model and Actuator Saturation

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