Under-actuated USV path following control under multiple constraints
The path following control of an under-actuated unmanned surface vehicle (USV) under the constraints of rudder angle, rudder velocity, and rudder response time in the disturbing environment is studied, and a cascaded path following control system based on guidance law and heading control law is desi...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
AIP Publishing LLC
2022-08-01
|
| Series: | AIP Advances |
| Online Access: | http://dx.doi.org/10.1063/5.0094347 |
| _version_ | 1798000137819127808 |
|---|---|
| author | Hongbin Wang Jiao Dong Jianqiang Zhang Yan Li Shiqi Wang |
| author_facet | Hongbin Wang Jiao Dong Jianqiang Zhang Yan Li Shiqi Wang |
| author_sort | Hongbin Wang |
| collection | DOAJ |
| description | The path following control of an under-actuated unmanned surface vehicle (USV) under the constraints of rudder angle, rudder velocity, and rudder response time in the disturbing environment is studied, and a cascaded path following control system based on guidance law and heading control law is designed. First, the guidance law is designed on the basis of integral line-of-sight, while the tracking error state is introduced to design a variable gain disturbance observer, which not only ensures the stability of the convergence section but also takes into account the tracking accuracy of the stable section. The stability of the system is analyzed. Subsequently, the rudder maneuverability constraint and rudder effect delay are further imposed after fully considering the limited range of rudder angle, rudder velocity, and rudder response time in the process of path following. In addition, the heading control law is, therefore, designed on the basis of the rolling optimization strategy, which effectively reduces the oscillation while ensuring the convergence speed. The stability of the control law is further proved. Thereafter, a simulation experiment proves the effectiveness and advancement of the algorithm designed in this paper. In the end, based on the software and hardware design of the control system, “Sea Sturgeon” USV is used for the lake test of the proposed control algorithm to verify its feasibility in practical engineering applications. |
| first_indexed | 2024-04-11T11:15:25Z |
| format | Article |
| id | doaj.art-b74905c904104279804286a1f3ffc4ff |
| institution | Directory Open Access Journal |
| issn | 2158-3226 |
| language | English |
| last_indexed | 2024-04-11T11:15:25Z |
| publishDate | 2022-08-01 |
| publisher | AIP Publishing LLC |
| record_format | Article |
| series | AIP Advances |
| spelling | doaj.art-b74905c904104279804286a1f3ffc4ff2022-12-22T04:27:14ZengAIP Publishing LLCAIP Advances2158-32262022-08-01128085006085006-1710.1063/5.0094347Under-actuated USV path following control under multiple constraintsHongbin Wang0Jiao Dong1Jianqiang Zhang2Yan Li3Shiqi Wang4Weapon Engineering College of Naval University of Engineering, Wuhan 430000, ChinaUnit 71776 of the Chinese People's Liberation Army, Beijing 100161, ChinaWeapon Engineering College of Naval University of Engineering, Wuhan 430000, ChinaWeapon Engineering College of Naval University of Engineering, Wuhan 430000, ChinaSchool of Economics, Ocean University of China, Qingdao 266100, ChinaThe path following control of an under-actuated unmanned surface vehicle (USV) under the constraints of rudder angle, rudder velocity, and rudder response time in the disturbing environment is studied, and a cascaded path following control system based on guidance law and heading control law is designed. First, the guidance law is designed on the basis of integral line-of-sight, while the tracking error state is introduced to design a variable gain disturbance observer, which not only ensures the stability of the convergence section but also takes into account the tracking accuracy of the stable section. The stability of the system is analyzed. Subsequently, the rudder maneuverability constraint and rudder effect delay are further imposed after fully considering the limited range of rudder angle, rudder velocity, and rudder response time in the process of path following. In addition, the heading control law is, therefore, designed on the basis of the rolling optimization strategy, which effectively reduces the oscillation while ensuring the convergence speed. The stability of the control law is further proved. Thereafter, a simulation experiment proves the effectiveness and advancement of the algorithm designed in this paper. In the end, based on the software and hardware design of the control system, “Sea Sturgeon” USV is used for the lake test of the proposed control algorithm to verify its feasibility in practical engineering applications.http://dx.doi.org/10.1063/5.0094347 |
| spellingShingle | Hongbin Wang Jiao Dong Jianqiang Zhang Yan Li Shiqi Wang Under-actuated USV path following control under multiple constraints AIP Advances |
| title | Under-actuated USV path following control under multiple constraints |
| title_full | Under-actuated USV path following control under multiple constraints |
| title_fullStr | Under-actuated USV path following control under multiple constraints |
| title_full_unstemmed | Under-actuated USV path following control under multiple constraints |
| title_short | Under-actuated USV path following control under multiple constraints |
| title_sort | under actuated usv path following control under multiple constraints |
| url | http://dx.doi.org/10.1063/5.0094347 |
| work_keys_str_mv | AT hongbinwang underactuatedusvpathfollowingcontrolundermultipleconstraints AT jiaodong underactuatedusvpathfollowingcontrolundermultipleconstraints AT jianqiangzhang underactuatedusvpathfollowingcontrolundermultipleconstraints AT yanli underactuatedusvpathfollowingcontrolundermultipleconstraints AT shiqiwang underactuatedusvpathfollowingcontrolundermultipleconstraints |