Adaptive predictive path following control based on least squares support vector machines for underactuated autonomous vessels

Liu, Chenguang; Zheng, Huarong; Negenborn, Rudy R.; Chu, Xiumin; Xie, Shuguo

doi:10.1002/asjc.2208

Cited by 26 publications

(12 citation statements)

References 43 publications

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“…However, the traditional PID algorithm cannot handle the uncertainty problem well. To compensate for the disturbances caused by environmental factors, control algorithms, such as adaptive PID [62], adaptive MPC [63][64][65][66], and adaptive dynamic surface control [67,68], have been gradually applied to ship control. With the development of modern control theory, intelligent algorithms, such as sliding mode control (SMC) [69], backstepping [70][71][72][73][74][75], fuzzy control [76], and neural network [77][78][79][80], are also widely adopted in the field of ship control.…”

Section: Motion Control Algorithmmentioning

confidence: 99%

Review of Ship Behavior Characteristics in Mixed Waterborne Traffic

Tang

Mou

Chen

et al. 2022

JMSE

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Through the continuous development of intellectualization, considering the lifecycle of ships, the future of a waterborne traffic system is bound to be a mixed scenario where intelligent ships of different autonomy levels co-exist, i.e., mixed waterborne traffic. According to the three modules of ships’ perception, decision-making, and execution, the roles of humans and machines under different autonomy levels are analyzed. This paper analyzes and summarizes the intelligent algorithms related to the three modules proposed in the last five years. Starting from the characteristics of the algorithms, the behavior characteristics of ships with different autonomous levels are analyzed. The results show that in terms of information perception, relying on the information perception techniques and risk analysis methods, the ship situation can be judged, and the collision risk is evaluated. The risk can be expressed in two forms, being graphical and numerical. The graphical images intuitively present the risk level, while the numerical results are easier to apply into the control link of ships. In the future, it could be considered to establish a risk perception system with digital and visual integration, which will be more efficient and accurate in risk identification. With respect to intelligent decision-making, currently, unmanned ships mostly use intelligent algorithms to make decisions and tend to achieve both safe and efficient collision avoidance goals in a high-complexity manner. Finally, regarding execution, the advanced power control devices could improve the ship’s maneuverability, and the motion control algorithms help to achieve the real-time control of the ship’s motion state, so as to further improve the speed and accuracy of ship motion control. With the upgrading of the autonomy level, the ship’s behavior develops in a safer, more efficient, and more environment-friendly manner.

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Section: Motion Control Algorithmmentioning

confidence: 99%

Review of Ship Behavior Characteristics in Mixed Waterborne Traffic

Tang

Mou

Chen

et al. 2022

JMSE

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“…LOS guidance principle is used to generate the desired heading angle that is calculated from cross track error y e and a look ahead distance D. The reference heading u d to make the control objects from (x, y, u) to only u, so that is to say, the matter of path following is converted into the heading control. 4 The LOS guidance principle is shown in Figure 3.…”

Section: Control Design For Path Followingmentioning

confidence: 99%

“…The reference heading φ d to make the control objects from ( x, y, φ ) to only φ , so that is to say, the matter of path following is converted into the heading control. 4 The LOS guidance principle is shown in Figure 3.…”

Section: Control Design For Path Followingmentioning

confidence: 99%

See 1 more Smart Citation

A novel active disturbance rejection control with hyperbolic tangent function for path following of underactuated marine surface ships

Jia

Fan

et al. 2020

Measurement and Control

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This paper presents a TADRC method via active disturbance rejection control (ADRC) with hyperbolic tangent function for path following of underactuated surface ships with input constraint, heading rate constraint, parameters uncertainties, as well as environment disturbances. The line of sight (LOS) guidance scheme that computes the desired heading angle on basis of cross tracking error and a look ahead distance, converts path following into heading control, and also renders good helmsman behavior. Moreover, hyperbolic tangent function is introduced to modify the linear extended state observer (LESO) to design a nonlinear observer (TESO) for promoting the estimation performance of the heading, heading rate and total disturbances including parameters uncertainties and environmental disturbances. Then, the linear error feedback control is modified by a nonlinear sliding mode control scheme with hyperbolic tangent function to handle the heading rate constraint and to obtain the better control action. Furthermore, the feedback control law is embedded in a standard Quadratic Programming (QP) cost function to handle the input constraints including rudder saturation and rudder rate limit. Finally, the comparison simulation demonstrates the effectiveness of the proposed method for the underactuated ship’s path following.

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“…PID and LOS are the fundamental algorithms that can be used in these procedures (Hinostroza, Soares, & Xu, 2018;Peimin, Huajun, & Xinchi, 2019;Yu et al, 2020). Moreover, algorithms like fuzzy logic control (Xiang, Yu, Lapierre, Zhang, & Zhang, 2018), predictive control (Li & Sun, 2011;C. Liu, Zheng, Negenborn, Chu, & Xie, 2019), sliding mode control (Z.…”

Section: Introductionmentioning

confidence: 99%

Retrofit an 11-meter yacht for autonomous navigation

You

Wang²

2020

Proceedings of the International Ship Control Systems Symposium (iSCSS)

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Intelligent/autonomous ships form a rising field that brings beneficial changes to waterborne transportation such as relieving labour shortages, avoiding collisions, and providing assistance to humans. Many autonomous navigation attempts have been carried out on ship models rather than real ships. The results of these studies have certain gaps with the results of full-scale ships. Cost and risk of intelligent ships for autonomous navigation are yet unclear, which makes retrofitting existing ships for tests and development appealing. This paper introduces the process of retrofitting a full-scale 11-meter yacht, including mechanical retrofit, hardware redesign, software deployment, and functional testing. The process is proposed as a solution of ship retrofit for autonomous navigation functions like heading control, path following, and collision avoidance. In the end, this paper concludes a plan of hardware and software that could help find more retrofit solutions, providing a reference for academic research and practical applications.

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Adaptive predictive path following control based on least squares support vector machines for underactuated autonomous vessels

Abstract: Adaptive predictive path following control based on least squares support vector machines for underactuated autonomous vessels. Asian Journal of Control.

Cited by 26 publications

References 43 publications

Review of Ship Behavior Characteristics in Mixed Waterborne Traffic

Review of Ship Behavior Characteristics in Mixed Waterborne Traffic

A novel active disturbance rejection control with hyperbolic tangent function for path following of underactuated marine surface ships

Retrofit an 11-meter yacht for autonomous navigation

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