LVS guidance based output-feedback path-following control for underactuated surface vessels

Zheng Chen; Boxu Min; Hongbin Xie; Yucheng Ying

doi:10.1117/12.2614218

10 November 2021 LVS guidance based output-feedback path-following control for underactuated surface vessels

Zheng Chen, Boxu Min, Hongbin Xie, Yucheng Ying

Proceedings Volume 12050, International Conference on Smart Transportation and City Engineering 2021; 120504T (2021) https://doi.org/10.1117/12.2614218
Event: 2021 International Conference on Smart Transportation and City Engineering, 2021, Chongqing, China

Abstract

This paper presents an adaptive output feedback control scheme for underactuated surface vessels’ path following control problem. For the guidance part, the LVS (Logical Virtual Ship) algorithm is employed to generate the reference path. In order to reconstruct the speed-state, a concise coordinate transformation is introduced to make the high-gain observer suitable for the ship model structure. The uncertain items of the ship model are dealt with RBF-NN, which further improves the estimation effect of the observer. On the basis of the backstepping method, the DSC technique is introduced to avoid the derivation of the virtual control law. Simulation experiments are carried out in MATLAB environment to verify the effectiveness of the proposed scheme. The results show that compared with state feedback scheme, the control scheme proposed in this paper has the advantage of not relying on speed information on the basis of achieving high-precision tracking of the reference path. It can serve as a redundant solution in the case of sensor failure. Meanwhile it can save communication resources from the sensor to the controller, which is of great significance to ensure navigation safety and improve navigation efficiency.

Citation Download Citation

Zheng Chen, Boxu Min, Hongbin Xie, and Yucheng Ying "LVS guidance based output-feedback path-following control for underactuated surface vessels", Proc. SPIE 12050, International Conference on Smart Transportation and City Engineering 2021, 120504T (10 November 2021); https://doi.org/10.1117/12.2614218

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KEYWORDS

Feedback control

Neural networks

Error analysis

Diffusion weighted imaging

Sensors

Actuators

Detection and tracking algorithms

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