Path-Following Control Method for Surface Ships Based on a New Guidance Algorithm

被引：9
|
作者：
Zhang, Zhanshuo [1 ]
Zhao, Yuhan [1 ]
Zhao, Guang [2 ]
Wang, Hongbo [1 ]
Zhao, Yi [1 ]
机构：
[1] Jilin Univ, Coll Elect Sci & Engn, State Key Lab Integrated Optoelect, Changchun 130000, Peoples R China
[2] China State Shipbldg Corp Ltd CSSC, Branch Inst 707, Jiujiang 332007, Peoples R China
来源：
JOURNAL OF MARINE SCIENCE AND ENGINEERING | 2021年 / 9卷 / 02期
基金：
俄罗斯基础研究基金会;
关键词：
ship motion control; path-following; guidance algorithm; nonlinear feedback;
D O I：
10.3390/jmse9020166
中图分类号：
U6 [水路运输]; P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
A new type of path-following method has been developed to steer marine surface vehicles along desired paths. Path-following is achieved by a new hyperbolic guidance law for straight-line paths and a backstepping control law for curved paths. An optimal controller has been improved for heading control, based on linear quadratic regulator (LQR) theory with nonlinear feedback control techniques. The control algorithm performance is validated by simulation and comparison against the requirements of International Standard IEC62065. Deviations are within the allowable range of the standard. In addition, the experimental results show that the proposed method has higher control accuracy.
引用
收藏
页码：1 / 22
页数：22
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