Model Identification and Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicles

Abstract

To promote the development of military and civilian applications for marine technology, more and more scientific research around the world has begun to develop unmanned surface vehicles (USVs) technology with advanced control capabilities. This paper establishes and identifies the model of vector propulsion USV, which is widely used at present. After analyzing its actuator distribution, we consider that the more realistic vessel model should be an incomplete underactuated system. For this system, a virtual control point method is adopted and an adaptive sliding mode trajectory tracking controller with neural network minimum learning parameter (NNMLP) theory is designed. Finally, in the simulation experiment, the thruster speed and propulsion angle are used as the inputs of the controller, and the linear and circular trajectory tracking tests are carried out considering the delay effect of the actuator, system uncertainty, and external disturbance. The results show that the proposed tracking control framework is reasonable.

Coordinated path-following control for networked unmanned surface vehicles

“…The conditions to guarantee the control objectives (3), (4), (5), and (14) are given in the following theorem. 2.…”

“…As the subsystem 9 Therefore, the equilibrium ðX 1 ; zÞ ¼ ð0; 0Þ is asymptomatic stable for the given set S. In fact, It can be verified that (29) and (33) can be satisfied for any given set S⊃S z  S X 1 . As a result, the semi-global asymptotic stability of the origin can be guaranteed, which leads to the accomplishment of the control objectives (3), (4), (5), and (14).…”

“…Unmanned surface vehicles (USVs) play an important role in a wide range of applications, such as military uses, scientific research, and environmental missions. 1,2 As a result, the research for USVs has drawn researchers' attention, and many control problems have been studied for USVs such as collision avoidance, 3,4 trajectory tracking, 5,6 target tracking, [7][8][9] and so on. Path-following control for USVs is a classical research topic in the control community.…”

Adaptive Backstepping Sliding Mode Tracking Control for Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation

“…As for the tracking control method of USV, the common methods are backstepping control [4], [5], neural network control [6], [7], adaptive control [8], etc. Each of the above control methods has its own characteristics and limitations.…”

“…Wang et al can create a modelfree guidance-control integrated framework to avoid the singularity of waypoints, which can solve the emerging successive waypoints tracking problem innovatively [10]. Sun et al adopted the virtual control point method and designed an adaptive sliding mode trajectory tracking controller with the theory of neural network minimum learning parameter [6]. Huang et al designed the tracking controller of underactuated USV by using nonlinear tracking differentiators and reduced order extended state observers [11].…”