Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 67, Issue 10, Pages 8566-8575Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2019.2947845
Keywords
Marine vehicles; Observers; Surges; Vehicle dynamics; Collaboration; Convergence; Electrical engineering; Finite-time path following (FPF); heading-surge collaboration; hyperbolic-tangent LOS (HLOS) guidance; underactuated marine vehicle (UMV)
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Funding
- National Natural Science Foundation of China [51009017, 51379002]
- Fund for Dalian Distinguished Young Scholars [2016RJ10]
- Fund for Liaoning Innovative Talents in Colleges and Universities [LR2017024]
- Liaoning Revitalization Talents Program [XLYC1807013]
- Stable Supporting Fund of Science and Technology on Underwater Vehicle Laboratory [SXJQR2018WDKT03]
- Fundamental Research Funds for the Central Universities [3132019344]
- National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning [NRF-2017R1A1A1A05001325]
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In this article, a novel hyperbolic-tangent line-of-sight (LOS) guidance-based finite-time path following (HLOS-FPF) framework is created to render an underactuated marine vehicle (UMV) rapidly and accurately follow the desired path, in the presence of complex unknowns including internal dynamics, external disturbances, and arbitrary sideslip. By defining a virtually desired sideslip angle of which the tangent-nonlinearity is exactly identified by a finite-time sideslip observer, the hyperbolic-tangent LOS (HLOS) guidance laws collaboratively governing heading, surge, and virtual ship velocity are devised in a finite-time manner such that cross-track error sensitively excites heading guidance. With the aid of nonsmooth auxiliary dynamics, guidance errors are finely dominated with finite-time convergence. Finite-time heading and surge controllers are further synthesized by integral and nonsingular terminal sliding-mode techniques, and ensure that HLOS guidance signals can be exactly tracked, whereby complex unknowns are exactly compensated by finite-time unknown observer. Eventually, nonsmooth analysis together with Lyapunov approach guarantees that the entire HLOS-FPF scheme is globally finite-time stable and contributes to exact path-following under heading-surge collaborative guidance. Simulation results and comprehensive comparisons with typical methods demonstrate remarkable superiority of the innovative HLOS-FPF scheme.
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