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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Published in | Journal of marine science and engineering Vol. 12; no. 4; p. 551 |
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Abstract | 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. |
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AbstractList | 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. |
Audience | Academic |
Author | Yi, Guangjie Zheng, Shuai Su, Yumin Zhuang, Jiayuan Tang, Yueqi |
Author_xml | – sequence: 1 givenname: Shuai surname: Zheng fullname: Zheng, Shuai – sequence: 2 givenname: Yumin surname: Su fullname: Su, Yumin – sequence: 3 givenname: Jiayuan surname: Zhuang fullname: Zhuang, Jiayuan – sequence: 4 givenname: Yueqi surname: Tang fullname: Tang, Yueqi – sequence: 5 givenname: Guangjie surname: Yi fullname: Yi, Guangjie |
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SubjectTerms | 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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