Fixed-Time Path-Following-Based Underactuated Unmanned Surface Vehicle Dynamic Positioning Control

The development of dynamic positioning (DP) algorithms for an unmanned surface vehicle (USV) is attracting great interest, especially in support of complex missions such as sea rescue. In order to improve the simplicity of the algorithm, a DP algorithm based on its own path following control ability...

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Bibliographic Details
Published inJournal of marine science and engineering Vol. 12; no. 4; p. 551
Main Authors Zheng, Shuai, Su, Yumin, Zhuang, Jiayuan, Tang, Yueqi, Yi, Guangjie
Format Journal Article
LanguageEnglish
Published Basel MDPI AG 01.04.2024
Subjects
Airborne/spaceborne computers
Algorithms
Autonomous underwater vehicles
Complexity
Computer simulation
Computer-generated environments
Controllers
Convergence (Social sciences)
Design
Design parameters
Dynamic positioning
Guidance (motion)
Kinematics
Low level
Marine environment
Mathematical models
Measuring instruments
path following
Simulation
Simulation methods
Surface vehicles
Trajectory planning
Unmanned vehicles
USV
Vehicles
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Summary:The development of dynamic positioning (DP) algorithms for an unmanned surface vehicle (USV) is attracting great interest, especially in support of complex missions such as sea rescue. In order to improve the simplicity of the algorithm, a DP algorithm based on its own path following control ability is proposed. The algorithm divides the DP problem into two parts: path generation and path following. The key contribution is that the DP ability can be realized only by designing the path generation method, rather than a whole complex independent DP controller. This saves the computing power of the USV onboard computer and can effectively reduce the complexity of the algorithm. In addition, the fixed-time LOS guidance law is designed to improve the convergence rate of the system state in path-following control. The reasonable selection of speed and a heading controller ensures that the number of design parameters to be determined is at a low level. The above algorithms have been thoroughly evaluated and validated through extensive computer simulations, demonstrating their effectiveness in simulated and real marine environments. The simulation results verify the ability of the proposed algorithm to realize the dynamic positioning of USVs, and provide a practical scheme for the design of the dynamic positioning controller of USVs.
ISSN:2077-1312
2077-1312
DOI:10.3390/jmse12040551