Line-of-sight-based global finite-time stable path following control of unmanned surface vehicles with actuator saturation

This paper focuses on the path following problem of unmanned surface vehicles (USVs) with unknown velocities, model uncertainties, and actuator saturation. To steer a USV rapidly and accurately follow the desired parameterized path, a line-of-sight (LOS)-based finite-time path following scheme is co...

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Veröffentlicht in:ISA transactions Jg. 125; S. 306 - 317
Hauptverfasser: Li, Mingcong, Guo, Chen, Yu, Haomiao, Yuan, Yi
Format: Journal Article
Sprache:Englisch
Veröffentlicht: Elsevier Ltd 01.06.2022
Schlagworte:
Finite-time
Input saturation
Path following
Sliding mode
Unmanned surface vehicles
Input saturation
Finite-time
Sliding mode
Unmanned surface vehicles
Path following
ISSN:0019-0578, 1879-2022, 1879-2022
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Zusammenfassung:This paper focuses on the path following problem of unmanned surface vehicles (USVs) with unknown velocities, model uncertainties, and actuator saturation. To steer a USV rapidly and accurately follow the desired parameterized path, a line-of-sight (LOS)-based finite-time path following scheme is constructed in which the finite-time technique can ensure the fast error convergence, such that some intelligent operations, including patrolling, fuel supplying, and formation control, can be promptly performed. First, USV kinematic and kinetic models are established, and finite-time observers are subsequently employed to identify the unmeasured USV velocities and model uncertainties. Then, an LOS guidance law is designed to achieve the finite-time convergence of the position errors. In addition, an optimized look-ahead distance is developed using a fuzzy algorithm. Meanwhile, the control subsystem is designed at the kinetic level by combining the backstepping sliding mode method and a novel auxiliary dynamic system, where the auxiliary system is applied to address actuator saturation. Subsequently, theoretical analysis is conducted to verify that the entire system is uniformly global finite-time stable (UGFTS). Finally, the simulation studies confirms the availability of the developed method. [Display omitted] •The finite-time technique is applied in guidance and control loop, simultaneously.•A novel fuzzy rule for the look-ahead distance is developed.•A novel auxiliary dynamic system is proposed to solve the saturation problem.
Bibliographie:ObjectType-Article-1
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ISSN:0019-0578
1879-2022
1879-2022
DOI:10.1016/j.isatra.2021.07.009