Global fast terminal sliding mode control for path following of ultra large underactuated ship based on predictive LOS guidance

Zhang, Hugan; Zhang, Xianku; Gao, Shihang; Han, Xu; Ma, Daocheng

doi:10.1016/j.oceaneng.2023.115387

Cited by 7 publications

(2 citation statements)

References 44 publications

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“…The proposed AFIDLOS guidance law was verified via a simulation experiment. A "M-shape" path was planned with five points, noted A, B, C, D, and E, whose coordinates were   A 6,5 , B (26,20), C (6,35), D (26,50) and E(6, 65) , respectively (Figure 5). The initial position of the USV was located at S(5,5) , and the first planned waypoint was located at point A(6.5) .…”

Section: Verifications Through Simulation Experimentsmentioning

confidence: 99%

“…Over the past few decades, significant efforts have been made to develop guidance laws [15]. These methods are mostly based on the LOS guidance law, which has been demonstrated by Abdurahman et al [16], Fossen et al [17], Fu and Wang [18], Huang et al [19], Kelasidi et al [20], Villa et al [21], Liu et al [22], Qu et al [23], Shao et al [24], Wang et al [25], and Zhang et al [26]. Early efforts can be classified into two main categories.…”

Section: Introductionmentioning

confidence: 99%

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Development of an Adaptive Fuzzy Integral-Derivative Line-of-Sight Guidance Law for Bathymetric LiDAR Onboard USV

Zhou,

Wu,

Gao

et al. 2024

Preprint

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Previous control methods developed by our research team cannot satisfy the high-accuracy requirements of unmanned surface vessel (USV) path-tracking during bathymetric mapping because of the excessive overshoot and slow convergence speed. For this reason, this study developed an adaptive fuzzy integral-derivative line-of-sight (AFIDLOS) guidance law for USV path-tracking control. Integral and derivative terms were added to counteract the effect of the sideslip angle, with which the USV could be quickly guided to converge to the planned path for bathymetric mapping. To obtain a high-accuracy of the look-ahead distance, a fuzzy control method was proposed. The proposed method was verified using simulations and outdoor experiments. The results demonstrate that the AFIDLOS guidance law can reduce the overshoot by 79.85%, shorten the settling time by 55.32% in simulation experiments, and reduce the average cross-track error by 10.91%, and can ensure a 30% overlap of neighboring strips of bathymetric LiDAR outdoor mapping when compared with the traditional method.

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