A novel path-following control algorithm for surface vessels based on global course constraint and nonlinear feedback technology

This paper proposes a novel path-following control algorithm for surface vessels based on global course constraint (GCC) for the first time. The path-following control algorithm takes the global course constraint as the goal. Dividing the preset path into two parts, straight and waypoint segment, in which the guidance laws are designed respectively. The guidance laws depend on cross-track error in the straight segment and planned path in the waypoint segment, then the reference courses are obtained. The controller is designed using the closed-loop gain shaping algorithm (CGSA) and the nonlinear feedback technology. The proposed algorithm ensures that the ship can follow the preset path with smoother course change, smaller rudder and roll angle, which is more in line with the marine practice. In addition, this paper uses the teaching practice ship Yukun of Dalian Maritime University as a simulation. Through comparative experiments and analysis, the effectiveness and superiority of the proposed path-following algorithm are further verified.

Automated summary

This paper proposes a novel path-following control algorithm for surface vessels based on global course constraint. The algorithm divides the preset path into straight and waypoint segments, designing guidance laws for each to ensure smoother course changes for the ship. Through experiments and analysis using a teaching practice ship, the effectiveness and superiority of the algorithm are further verified.