A Time-Varying Lookahead Distance of ILOS Path Following for Unmanned Surface Vehicle
- PDF / 2,373,971 Bytes
- 12 Pages / 595.276 x 790.866 pts Page_size
- 81 Downloads / 182 Views
ORIGINAL ARTICLE
A Time‑Varying Lookahead Distance of ILOS Path Following for Unmanned Surface Vehicle Dongdong Mu1 · Guofeng Wang1 · Yunsheng Fan1 Received: 16 July 2019 / Revised: 17 September 2019 / Accepted: 29 April 2020 © The Korean Institute of Electrical Engineers 2020
Abstract This paper is concerned with the path following control for an unmanned surface vessel subject to unknown dynamics and external disturbance. Firstly, an integral Line-of-Sight navigation strategy based on a fuzzy strategy to optimize lookahead distance to achieve faster convergence speed is proposed. Then a novel adaptive course control law based on trajectory linearization control technology is proposed, which is combined with the integral Line-of-Sight navigation strategy to form a complete unmanned surface vessel path following strategy. From the author’s point of view, this is the first time that trajectory linearization control technology has been applied to the path following scheme by controlling the course. At the same time, in order to improve the robustness of the path following system, the unknown dynamics, external disturbance, and error in the system are compensated by neural network minimum learning parameter method with less computational complexity and a robust term, respectively. Furthermore, hyperbolic tangent function, Nussbaum function, and neural shunting model are introduced into the design of control law to solve the potential input saturation problem. Finally, the numerical simulation experiments of straight line and curve path following are given to prove the feasibility and universality of the whole set of path following scheme. Keywords Unmanned surface vessel · Line-of-sight · Path following · Course control
1 Introduction Unmanned surface vehicle (USV) is an intelligent marine motion platform composed of a variety of sensors and their corresponding control modules, which has intelligent, autonomous perception and decision-making capabilities for complex sea conditions [1–5]. It has a broad application prospect, which has become a research hotspot of unmanned surface platforms at home and abroad. The track tracking tasks of USV can be divided into two categories: path following [6–8] and trajectory tracking [9–12]. The difference between path following and trajectory tracking is that the trajectory tracking needs to reach a specific location at a * Dongdong Mu [email protected] Guofeng Wang [email protected] Yunsheng Fan [email protected] 1
School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China
specific time, that is, strict requirements on time. However, path following only needs to travel along a specific path without having to have time requirements. From an engineering practice perspective, path following is easier to implement than trajectory tracking. In recent years, there have been many research results on the path following control problem of the ship [13–15]. Among all path navigation strategies, Line-of-Sight (LOS) navigation strategy is the most
Data Loading...
