Journal
OCEAN ENGINEERING
Volume 197, Issue -, Pages -Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2019.106910
Keywords
Data-driven sideslip observer; Underactuated marine vessels; Path-following control; Adaptive sliding-mode control
Funding
- National Natural Science Foundation of China of P. R. China [51009017, 51379002, 61803063]
- Fund for Dalian Distinguished Young Scholars [2016RJ10]
- Fund for Liaoning Innovative Talents in Colleges and Universities [LR2017024]
- Fundamental Research Funds for the Central Universities [3132019344, 3132019108, 3132018126]
- Stable Supporting Fund of Science and Technology on Underwater Vehicle Laboratory [SXJQR2018WDKT03]
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A novel data-driven sideslip observer-based adaptive sliding-mode path-follo-wing control (DSO-ASPC) scheme is proposed for underactuated marine vessels in the presence of large and time-varying sideslip. Main contributions are as follows: (1) A data-driven sideslip observer (DSO), by estimating both lumped unknown dynamics induced by sideslip angle and the discretization error, is innovatively proposed, and thereby contributing to high-accuracy estimation of large sideslip angle, which is allowed to be time-varying; (2) A DSO-based line-of-sight (DLOS) guidance law is further devised to guide the heading angle and compensate the sideslip; (3) By virtue of the estimated surge speed and heading guidance, data-driven velocity controllers are designed by sliding-mode technique, in addition that theoretical analysis is provided to guarantee asymptotic stability of the overall path-following closed-loop system. Simulation studies are finally conducted to demonstrate the efficiency and superiority of the proposed DSO-ASPC approach.
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