Predictive path following based on adaptive line-of-sight for underactuated autonomous surface vessels

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

doi:10.1007/s00773-017-0486-2

Cited by 46 publications

(29 citation statements)

References 32 publications

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“…Liu et al. (2018a) proposed a model predictive control approach based on adaptive LOS guidance to solve the path following problem for ASVs. Liao et al.…”

Section: Literature Reviewmentioning

confidence: 99%

Autonomous vessels: state of the art and potential opportunities in logistics

Góez

Guajardo

et al. 2020

Int Trans Operational Res

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The growth in technology on autonomous transportation systems is currently motivating a number of research initiatives. This paper first presents a survey of the literature on autonomous marine vessels in general. By identifying the main research interests in this field, we define 10 thematic categories. The collected articles are then classified according to these categories. We show that research on autonomous vessels has increased dramatically in the past decade. However, most of the published articles have focused on navigation control and safety issues. Studies regarding other topics, such as transport and logistics, are very limited. Although our main interest is the literature on autonomous vessels, we contrast its development with respect to the literature on autonomous cars so as to have a better understanding about the future potentials in the research on autonomous vessels. The comparison shows that there are great opportunities for research about transportation and logistics with autonomous vessels. Finally, several potential research areas regarding logistics with autonomous vessels are proposed. As the technology behind remote‐controlled or autonomous ships is maturing rapidly, we believe that it is already time for researchers in the field to start looking into future water‐borne transport and logistics using autonomous vessels.

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“…Liu et al. (2018a) proposed a model predictive control approach based on adaptive LOS guidance to solve the path following problem for ASVs. Liao et al.…”

Section: Literature Reviewmentioning

confidence: 99%

Autonomous vessels: state of the art and potential opportunities in logistics

Góez

Guajardo

et al. 2020

Int Trans Operational Res

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show abstract

“…To guarantee that there is always a real solution to (), the LOS circle radius is set as [32]:

R_{LOS} = ({, \begin{matrix} left \\ array 3 L, & array for e ⩽ 3 L, \\ array e + L, & array otherwise . \end{matrix})

Another key point for path following is to switch to the next waypoint P n +2 relies on whether the vessel is within an acceptance circle around the current waypoint P n +1 or not. If the vessel position O b satisfies (), the waypoint will be changed to P n +2 .…”

Section: Path Following Modelingmentioning

confidence: 99%

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

Liu

Zheng

Negenborn

et al. 2019

Asian Journal of Control

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“…Theorem 13. Consider the parameterized hovercraft models (7) and (10) in the presence of parametric uncertainties and external disturbances and assume that Assumptions 5-8 are satisfied. If the update law for the path variable is chosen as (22), the desired heading angle of the hovercraft is calculated by (23), the auxiliary system is designed as (33), the adaptation laws for unknown parameters and external disturbances are given by (44) and (56), and the controllers are obtained from (43) Proof.…”

Section: Stability Analysismentioning

confidence: 99%

“…The nominal parameters of the hovercraft are shown in Appendix A, Table 1. For numerical simulations, the time-varying bounded disturbances in (7) are generated by using the first-order Gauss-Markov process [52]:…”

Section: Simulationmentioning

confidence: 99%

“…Reference [5] utilized a backstepping technique to develop a nonlinear path following controller for MSVs, in which the control design was based on feedback dominance instead of feedback linearization. Reference [6,7] presented a model predictive control scheme with line-of-sight (LOS) guidance to improve the path following performance. Reference [8] proposed an adaptive path following controller to estimate the ocean currents, while a new integral LOS guidance law was obtained based on adaptive control.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Barrier Lyapunov Function‐Based Adaptive Control of an Uncertain Hovercraft with Position and Velocity Constraints

Wang

2019

Mathematical Problems in Engineering

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This paper considers the problem of constrained path following control for an underactuated hovercraft subject to parametric uncertainties and external disturbances. A four-degree-of-freedom hovercraft model with unknown curve-fitted coefficients is first rewritten into a parameterized form. By introducing a barrier Lyapunov function into the line-of-sight guidance, the specific transient tracking performance in terms of position error is guaranteed. A novel constrained yaw rate controller is proposed to ensure time-varying yaw rate constraint satisfaction, in which the yaw rate barrier is required to vary with the speed of the hovercraft. Moreover, a command filter is incorporated into the control design to generate the desired virtual controls and its time derivatives. Theoretical analyses show that, under the proposed controller, the position tracking error constraints and the yaw rate constraint can be strictly guaranteed. Finally, numerical simulations illustrate the effectiveness and advantages of the proposed control scheme.

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Predictive path following based on adaptive line-of-sight for underactuated autonomous surface vessels

Cited by 46 publications

References 32 publications

Autonomous vessels: state of the art and potential opportunities in logistics

Autonomous vessels: state of the art and potential opportunities in logistics

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

Barrier Lyapunov Function‐Based Adaptive Control of an Uncertain Hovercraft with Position and Velocity Constraints

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