Predictor-Based Fixed-Time LOS Path Following Control of Underactuated USV With Unknown Disturbances

Wang, Shandan; Sun, Mengwei; Xu, Yihang; Liu, Jian; Sun, Changyin

doi:10.1109/tiv.2023.3245612

Cited by 33 publications

(10 citation statements)

References 49 publications

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“…Since underactuated USVs are not equipped with thrusters that provide lateral thrust, τ v = 0. The inertia matrix M, coriolis and centripetal matrix C(v), and damping matrix D(v) are defined as [29]:…”

Section: Tracking Error Dynamics Of Underactuated Usvmentioning

confidence: 99%

“…However, both ILOS and ALOS play roles in the hypothesis that the sideslip angle is constant or varies slowly. In [28,29], an extended state observer (ESO) and predictor-based LOS were proposed, respectively, wherein effects caused by fast-varying sideslip angles are eliminated. Considering that only an asymptotic convergence of the system state is achieved based on the above algorithm, it cannot meet the requirements of convergence performance in surface and underwater target search tasks, so the finite-time or fixed-time path-following control method is proposed.…”

Section: Introductionmentioning

confidence: 99%

“…Note that the finite-time or fixed-time controller can make tracking errors converge to zero faster, with better robustness and higher accuracy [30,31]. Wang et al [29] studied the path-following problem of USV systems subjected to unknown disturbances and proposed a fixed-time predictor to approximately forecast the sideslip. The system's fixed-time stability was guaranteed via designing a fixed-time LOS and heading controller.…”

Section: Introductionmentioning

confidence: 99%

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Fixed-Time Path-Following-Based Underactuated Unmanned Surface Vehicle Dynamic Positioning Control

Zheng,

Su,

Zhuang

et al. 2024

JMSE

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The development of dynamic positioning (DP) algorithms for an unmanned surface vehicle (USV) is attracting great interest, especially in support of complex missions such as sea rescue. In order to improve the simplicity of the algorithm, a DP algorithm based on its own path following control ability is proposed. The algorithm divides the DP problem into two parts: path generation and path following. The key contribution is that the DP ability can be realized only by designing the path generation method, rather than a whole complex independent DP controller. This saves the computing power of the USV onboard computer and can effectively reduce the complexity of the algorithm. In addition, the fixed-time LOS guidance law is designed to improve the convergence rate of the system state in path-following control. The reasonable selection of speed and a heading controller ensures that the number of design parameters to be determined is at a low level. The above algorithms have been thoroughly evaluated and validated through extensive computer simulations, demonstrating their effectiveness in simulated and real marine environments. The simulation results verify the ability of the proposed algorithm to realize the dynamic positioning of USVs, and provide a practical scheme for the design of the dynamic positioning controller of USVs.

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Section: Tracking Error Dynamics Of Underactuated Usvmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Fixed-Time Path-Following-Based Underactuated Unmanned Surface Vehicle Dynamic Positioning Control

Zheng,

Su,

Zhuang

et al. 2024

JMSE

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show abstract

“…Guidance law evaluates the numerical data it receives from the navigation and determines the course angle and virtual target points that will lead the USV to the target point with the least cross tracking error and in the shortest time by precisely following the predefined path (Zhang et al, 2023;Kim et al, 2023;Fossen, 2023). The control part of the path following algorithm, on the other hand, transmits the commands it receives from the guidance law to the actuator, allowing the USV to move physically (Wang et al, 2023;Deng et al, 2022;Liu et al, 2022). Considering all these parts, the guidance law represents the headquarters part of the path-following algorithm.…”

Section: Introductionmentioning

confidence: 99%

Intelligent vector-based path following guidance law for unmanned surface vehicles

ÜNAL¹,

Akkaş²,

Atali³

2023

Preprint

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This study proposes a significant improvement on the classical vector field guidance law. Classical vector field method results in imaginary number some cases. In numerical calculation, imaginary part of the number ignores to obtain well-posed solution. However, negligence of imaginary part negatively affects the optimization workflow and it leads to larger cross tracking errors. In this study, classical vector field method was modified to obtain real numbers in all cases. Owing to the modified new method, cross tracking errors were diminished by 10% compared to the traditional vector field method. Second contribution of this study is to integrate the surrogate optimization technique to the developed robust vector field method in order to tune parameters of the guidance law. To the best of our knowledge, we are the first to combine surrogate optimization method with vector field path following algorithm. Vector field path following algorithm requires optimizing four important key parameters. While the unmanned surface vehicle performs the multi-command tasks, determining the optimum values of these four key parameters for each mission increases the computational costs significantly. Since the surrogate optimization method is more suitable for the time-consuming objective functions, it is preferred instead of the most popular optimization technique, genetic algorithm. Surrogate optimization method integrated robust vector field path following algorithm determines optimum parameters approximately 10 times faster than the genetic algorithm integrated vector field method. In addition to the time advantage of the developed model, the proposed method provides a navigation that causes less cross tracking errors compared to classical technique.

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“…The second type is based on an estimator to estimate and compensate the sideslip angle. A multifarious sideslip observer was proposed to strengthen the robustness of the path-following controller in [13][14][15][16][17][18][19]. In [13], a predictor-based LOS (PLOS) was developed for the estimation of vehicle sideslip under the assumption of small sideslip angle.…”

Section: Introductionmentioning

confidence: 99%

Smooth Sliding Mode Control for Path Following of Underactuated Surface Vehicles Based on LOS Guidance

Wang,

Qu,

Zhao

et al. 2023

JMSE

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In this paper, a solution to the problem of following a curved path for underactuated unmanned surface vehicles (USVs) with unknown sideslip angle and model uncertainties is studied. A novel smooth sliding mode control (SSMC) based on a finite-time extended state observer (FTESO) for heading control is proposed. Firstly, the model of a USV with rudderless double thrusters is established. Secondly, the path-following error dynamics of a USV is established in a path-tangential reference frame. Thirdly, a finite-time observer is introduced to estimate the unidentified sideslip angle, and the line-of-sight (LOS) guidance law is applied to produce the desired heading angle. Finally, an SSMC controller is proposed to force USV tracking at the desired heading angle and surge speed, in which FTESO is used to estimate and compensate the unknown disturbance in sliding mode dynamics. The theoretical analysis for FTESO-SSMC verifies that the controller can provide finite-time convergence to and stability on the sliding surface. Simulation studies and contrast test are conducted to demonstrate the robustness and rapidity of the proposed FTESO-SSMC controller.

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Predictor-Based Fixed-Time LOS Path Following Control of Underactuated USV With Unknown Disturbances

Cited by 33 publications

References 49 publications

Fixed-Time Path-Following-Based Underactuated Unmanned Surface Vehicle Dynamic Positioning Control

Fixed-Time Path-Following-Based Underactuated Unmanned Surface Vehicle Dynamic Positioning Control

Intelligent vector-based path following guidance law for unmanned surface vehicles

Smooth Sliding Mode Control for Path Following of Underactuated Surface Vehicles Based on LOS Guidance

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