Switching-line-of-sight-guidance-based Robust Adaptive Path-following Control for Underactuated Unmanned Surface Vehicles

doi:10.3969/j.issn.1000-1093.2018.12.017

Abstract

Abstract: A robust adaptive control method is proposed for the way-point-based path following control of underactuated unmanned surface vehicles (USVs). A switching line-of-sight (LOS) guidance law is designed to keep USV always running to a desired path with the best LOS circle radius. Switching LOS guidance law has the advantages of less computing burden and faster convergence compared to the traditional guidance methods. Considering the system uncertainties of vehicle and the unknown time-varying disturbances, a composite neural network controller is developed to enhance the robustness of the system. The approximation accuracy of network is improved by adding the predicted error information in the network input. The number of online adaptive parameters is reduced, which effectively lightens the computing burden, by using the minimal learning parameter techniques to optimize the network structure. The stability of system is analyzed based on the Lyapunov theory. The simulated results are presented to demonstrate the effectiveness of the proposed control strategy. Key

Key words: underactuatedunmannedsurfacevehicle, pathfollowing, adaptivecontrol, neuralnetwork

CLC Number:

TP273⁺.21

ZENG Jiang-feng， WAN Lei， LI Yue-ming， ZHANG Ying-hao， ZHANG Zi-yang， CHEN Guo-fang. Switching-line-of-sight-guidance-based Robust Adaptive Path-following Control for Underactuated Unmanned Surface Vehicles[J]. Acta Armamentarii, 2018, 39(12): 2427-2437.

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第39卷第12期
2018 年12月兵工学报ACTA
ARMAMENTARIIVol.39No.12Dec. 2018

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