Underactuated ship path tracking based on robust line-of-sight guidance&nbsp;method

XU Shuang, LIU Cheng, GUO Weili

doi:10.16411/j.cnki.issn1006-7736.2024.01.003

Journal of Dalian Maritime University >

2024 , Vol. 50 >Issue 1: 20 - 27

DOI: https://doi.org/10.16411/j.cnki.issn1006-7736.2024.01.003

Underactuated ship path tracking based on robust line-of-sight guidance method

Expand

(Navigation College, Dalian Maritime University, Dalian 116026, China)

Received date: 2023-09-15

Revised date: 2023-12-06

Accepted date: 2023-12-06

Online published: 2023-12-06

Fold

Abstract

A neural network sliding mode controller based on the robust line-of-sight (LOS) guidance method for the path tracking of underactuated ship was proposed to solve the problem of underactuated and ship model uncertainty. Firstly, the robust LOS was utilized to solve the problem that the ship’s input degrees of freedom dimension were less than the output degrees of freedom dimension, and at the same time, to reduce the influence of the differences of ship kinematics. Secondly, the controller was designed by combining radial basis function neural network and sliding mode to reduce the effect of external disturbances and realize the path tracking of underactuated ships. Finally, the Lyapunov stability theory was applied to prove the stability of the guidance system and the control system. A robust line-of-sight guidance method was introduced to design the guidance system, taking into account the influence of ship kinematics differences while reducing external interference. The simulation experiments respectively realize the linear path tracking and curved path tracking of underactuated ships, and verify the effectiveness and feasibility of the designed controller.

Key words： underactuated ship; path tracking; robust line-of-sight(LOS) guidance;neural networks;sliding mode control

Cite this article

XU Shuang, LIU Cheng, GUO Weili . Underactuated ship path tracking based on robust line-of-sight guidance method[J]. Journal of Dalian Maritime University, 2024 , 50(1) : 20 -27 . DOI: 10.16411/j.cnki.issn1006-7736.2024.01.003

References

［1］张贺，姚杰，隋江华，等. 基于DSC的欠驱动船舶路径跟踪神经滑模控制［J］.船舶工程, 2019, 41(10): 85-90.

ZHANG H, YAO J, SUI J H, et al. Neural sliding mode path following control for underactuated ship based on DSC［J］. Naval Architecture, 2019, 41(10): 85-90. (in Chinese)

［2］ZHANG G Q, LI J Q, JIN X, et al. Robust adaptive neural control for wing sail assisted vehicle via the multiport event-triggered approach［J］. IEEE Transactions on Cybernetics, 2022, 52(12): 12916-12928.

［3］ZHANG Y X, LIU Y. Guidance-based path following of an underactuated ship based on event-triggered sliding mode control［J］. Journal of Marine Science and Engineering, 2022, 10(11):1780.

［4］LI S J, XU Z Q, LIU J L, et al. Learning-based extended dynamic mode decomposition for addressing path-following problem of underactuated ships with unknown dynamics［J］. International Journal of Control, Automation and Systems, 2022, 20(12): 4076-89.

［5］ZHANG G Q, ZHANG X K. A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning［J］. ISA Transactions, 2015, 56: 75-85.

［6］FOSSEN T I, BREIVIK M, SKJETNE R. Line-of-sight path following of underactuated marine craft［J］. IFAC Proceedings Volumes, 2003, 36(21): 211-216.

［7］BRHAUG E, PAVLOV A, PETTERSEN K Y. Integral LOS control for path following of underactuated marine surface vessels in the presence of constant ocean currents［C］. IEEE Conference on Decision and Control, 2008, 47: 4984-4991.

［8］FOSSEN T I, PETTERSEN K Y. GALEAZZI R. Line-of-sight path following for dubins paths with adaptive sideslip compensation of drift forces［J］. IEEE Transactions on Control Systems Technology, 2015, 23(2): 820-827.

［9］LIU L, WANG D, PENG Z H. Predictor-based LOS guidance law for path following of underactuated marine surface vehicles with sideslip compensation［J］. Ocean Engineering, 2016, 124: 340-348.

［10］LIU C, GUO W L, SUN T. RLOS-based path following with event-triggered roll motion control for underactuated ship using rudder［J］. Ocean Engineering, 2023, 269:113592.

［11］LI J Q, ZHANG G Q, SHAN Q H, et al. A novel cooperative design for mixed-order USV-UAV systems with external disturbances: 3D mapping guidance and adaptive fuzzy control［J］. IEEE Transactions on Control of Networks System, 2022, 10(2): 564-574.

［12］LI J Q,ZHANG G Q, LIU C, et al. COLREGs-constrained adaptive fuzzy event-triggered control for underactuated surface vehicles with the actuator failures［J］. IEEE Transactions on Fuzzy Systems, 2021, 29(12): 3822-3832.

［13］LIU Z Q. Practical backstepping control for underactuated ship path following associated with disturbances［J］. IET Intelligent Transport Systems, 2019, 13(5): 834-840.

［14］LIU C, LI C, LI W H. Computationally efficient MPC for path following of underactuated marine vessels using projection neural network［J］. Neural Computing and Applications, 2020, 32: 7455-7464.

［15］邓英杰，隋江华，张国庆，等. 基于DVS制导算法的欠驱动船舶路径跟踪指令滤波滑模控制［J］.大连海事大学学报,2017, 43(2): 20-26.

DENG Y J, SUI J H, ZHANG G Q, et al. Command filter sliding mode path following control based on the DVS algorithm of underactuated ships［J］. Journal of Dalian Maritime University, 2017, 43(2): 20-26. (in Chinese)

［16］CHUX Y, BU R X, LI R H, et al. Nonlinear sliding mode control for ships path following using neural-network approximation［C］//2020 35th Youth Academic Annual Conference of Chinese Association of Automation (YAC). Zhanjiang: IEEE, 2020: 1-5.

［17］沈智鹏，代昌盛. 欠驱动船舶路径跟踪的强化学习迭代滑模控制［J］.哈尔滨工程大学学报,2017, 38(5): 697-704.

SHEN Z P, DAI C S. Iterative sliding mode control based on reinforced learning and used for path tracking of under-actuated ship［J］. Journal of Harbin Engineering University, 2017, 38(5): 697-704. (in Chinese)

［18］章沪淦，卜仁祥，于镓铭，等. 船舶路径跟踪RBF神经网络滑模控制［J］.上海海事大学学报, 2021, 42(4): 7-11.

ZHANG H G, BU R X, YU J M, et al. RBF neural network sliding mode control for ship path following［J］. Journal of Shanghai Maritime University, 2021, 42(4): 7-11. (in Chinese)

［19］DO K D, JIANG Z P, PAN J. Robust adaptive path following of underactuated ships［J］. Automatica, 2004, 40(6): 929-44.

［20］FOSSEN T I. Handbook of marine craft hydrodynamics and motion control［M］. ［S.l.］: Wiley, 2011.

［21］BREIVIK M, FOSSEN T I. Proceedings of the 44th IEEE Conference on Decision and Control. Seville：IEEE, 2005: 627-634.

［22］刘陆. 欠驱动无人船的路径跟踪与协同控制［D］.大连:大连海事大学, 2018.

LIU L. Path following and cooperative control of underactuated unmanned surface vehicles［D］. Dalian: Dalian Maritime University, 2018. (in Chinese)

［23］KULJACA O, SWAMY N, LEWIS F L, et al. Design and implementation of industrial neural network controller using backstepping［J］. IEEE Transactions on Industrial Electronics, 2003, 50(1): 193-201.

［24］刘程. 船舶路径跟踪与减横摇综合控制研究［D］.上海: 上海交通大学, 2015.

LIU C. Integrated control of path following and roll motion reduction for marine vessels［D］. Shanghai: Shanghai Jiao Tong University, 2015. (in Chinese)

［25］FENG Y, YU X H, MAN Z H. Non-singular terminal sliding mode control of rigid manipulators［J］. Automatica, 2002, 38(12): 2159-2167.

Options

Outlines

模态框（Modal）标题

Abstract

Cite this article

References