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

页码：1 / 22

页数：22

共 50 条

[41] PAT - a reliable path-following algorithm
Mezher, D
Philippe, B
NUMERICAL ALGORITHMS, 2002, 29 (1-3) : 131 - 152
[42] A New Path-Following Algorithm for Nonlinear P*Complementarity Problems
Y. B. Zhao
D. Li
Computational Optimization and Applications, 2006, 34 (2) : 183 - 214
[43] Coordinated path-following control for networked unmanned surface vehicles
Chen, Dong-Liang
Liu, Guo-Ping
Zhang, Ru-Bo
Qu, Xingru
INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 17 (03)
[44] Concise Robust Adaptive Path-Following Control of Underactuated Ships Using DSC and MLP
Zhang, Guoqing
Zhang, Xianku
IEEE JOURNAL OF OCEANIC ENGINEERING, 2014, 39 (04) : 685 - 694
[45] A PATH-FOLLOWING ALGORITHM WITH QUADRATIC PREDICTOR
WAGNER, W
COMPUTERS & STRUCTURES, 1991, 39 (3-4) : 339 - 348
[46] Research on Intelligent Navigation Technology: Intelligent Guidance and Path-Following Control of USVs
Shang, Xiaoyong
Zhang, Guoqing
Lyu, Hongguang
Tan, Guifu
JOURNAL OF MARINE SCIENCE AND ENGINEERING, 2024, 12 (09)
[47] Kinematic path-following control of a mobile robot on arbitrary surface
Kane, Gavin
Boesecke, Robert
Raczkowsky, Joerg
Woern, Heinz
2010 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2010, : 1562 - 1567
[48] Active disturbance rejection control based path following of underactuated surface ships
Li, R. (lironghui@163.com), 1600, ICIC Express Letters Office, Tokai University, Kumamoto Campus, 9-1-1, Toroku, Kumamoto, 862-8652, Japan (07):
[49] Adaptive disturbance observer based cooperative path-following control for autonomous surface vessels
Huang C.-F.
Zhang X.-K.
Zhang G.-Q.
Zhang W.-D.
Kongzhi Lilun Yu Yingyong/Control Theory and Applications, 2020, 37 (11): : 2312 - 2320
[50] A novel DVS guidance principle and robust adaptive path-following control for underactuated ships using low frequency gain-learning
Zhang, Guoqing
Zhang, Xianku
ISA TRANSACTIONS, 2015, 56 : 75 - 85

← 1 2 3 4 5 →