Systems Engineering and Electronics ›› 2018, Vol. 40 ›› Issue (1): 139-150.doi: 10.3969/j.issn.1001-506X.2018.01.21

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Adaptive path following control of the underactuated USV based on the asymmetric model

CHEN Xiao, LIU Zhong, ZHANG Jianqiang, DONG Jiao   

  1. School of Electronic Engineering, Naval University of Engineering, Wuhan 430000, China
  • Online:2018-01-08 Published:2018-01-08

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Abstract:

The path following control problem of the asymmetry underactuated unmanned surface vehicles (USV) under external disturbances such as current is discussed, and an adaptive path following control algorithm is proposed. Firstly, the control input and degree of freedom with underactuated movement are decoupled with the transformation of coordinates. Next, based on the cascade system theory, the position error adaptive control law and the course error control law are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively, so that the position error is calmed. The course error is designed based on the feedback linearization proportional differential control, which is calmed according to the continuous smooth signal after filtering. Finally, based on the cascaded system and Lyapunov theories, the proposed control system is proved to be uniform semiglobal exponential stable and uniform globally asymptotic stable when the target tasks are all achieved. The theoretical analysis and simulation results show the effectiveness of the proposed method.

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