Surge-Heading Guidance-Based Finite-Time Path Following of Underactuated Marine Vehicles

In this paper, a surge-heading guidance-based finite-time path-following control (SHG-FPC) scheme is created for an underactuated marine vehicle with complex unknowns. In lieu of line-of-sight guidance, both surge and heading can be guided by adapting to path-following errors and this can greatly en...

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Bibliographic Details
Published inIEEE transactions on vehicular technology Vol. 68; no. 9; pp. 8523 - 8532
Main Authors Wang, Ning, Sun, Zhuo, Jiao, Yuhang, Han, Guangjie
Format Journal Article
LanguageEnglish
Published New York IEEE 01.09.2019
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Autonomy
Control theory
Decision making
finite-time control
Kinematics
Marine vehicles
Observers
path following
Stability
Sun
Surge-heading guidance
Surges
Trajectory planning
Uncertainty
underactuated marine vehicle
Vehicle dynamics
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ISSN0018-9545
1939-9359
DOI10.1109/TVT.2019.2927893

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Summary:In this paper, a surge-heading guidance-based finite-time path-following control (SHG-FPC) scheme is created for an underactuated marine vehicle with complex unknowns. In lieu of line-of-sight guidance, both surge and heading can be guided by adapting to path-following errors and this can greatly enhance the decision-making autonomy pertaining to guidance of kinematics and dynamics, simultaneously. Complex unknowns can be exactly identified by virtue of the devised finite-time uncertainty observer (FUO), by which FUO-based nonsmooth control laws are able to achieve accurate guidance tracking, and thereby, contributing to entire finite-time path-following performance with strong robustness. Simulation results demonstrate the remarkable performance of the proposed SHG-FPC scheme.
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ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2019.2927893