Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS) guidance algorithm is proposed which can adjust adaptively based on the path following error. The global asymptotically stable path following controller is...

Full description

Saved in:
Bibliographic Details
Published in:Polish maritime research Vol. 24; no. 1; pp. 3 - 11
Main Authors: Liu, Tao, Dong, Zaopeng, Du, Hongwang, Song, Lifei, Mao, Yunsheng
Format: Journal Article
Language:English
Published: Gdansk Sciendo 01.03.2017
De Gruyter Brill Sp. z o.o., Paradigm Publishing Services
Subjects:
Algorithms
Asymptotic properties
Computer simulation
Control
Control stability
Control systems
improved lineof- sight guidance algorithm
Inertial coordinates
Line of sight
Mathematical models
nonlinear backstepping method
path following control
Permissible error
Reliability
Serret-Frenet coordinate frame
Simulation
Thrust
Thrust control
Torque
Trajectory planning
underactuated system
unmanned surface vessel (USV)
Unmanned vehicles
Velocity
Yaw
Yawing
ISSN:2083-7429, 1233-2585, 2083-7429
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS) guidance algorithm is proposed which can adjust adaptively based on the path following error. The global asymptotically stable path following controller is designed based on the nonlinear backstepping method and the Lyapunov stability theory. Firstly, the USV path following error model is established in the Serret-Frenet (SF) coordinate frame. The path following error in the inertial coordinate frame is transformed into the SF coordinate frame, which is used to define the path following control problem. Secondly, inspired by the traditional LOS guidance algorithm, the longitudinal path following error in the SF coordinate frame is introduced into the improved LOS guidance algorithm. This allows the algorithm to adjust adaptively to the desired path. Thirdly, in order to solve the underactuated problem of the USV path following control system, the tangential velocity of the desired path is designed as a virtual input. The underactuated problem is converted to a virtual fully actuated problem by designing the virtual control law for the tangential velocity. Finally, by combining backstepping design principles and the Lyapunov stability theory, the longitudinal thrust control law and the yaw torque control law are designed for the underactuated USV. Meanwhile, the global asymptotic stability of the path following error is proved. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:2083-7429
1233-2585
2083-7429
DOI:10.1515/pomr-2017-0001