Journal
SENSORS
Volume 21, Issue 22, Pages -Publisher
MDPI
DOI: 10.3390/s21227454
Keywords
unmanned surface vehicle; path following; line-of-sight; sensor application; fast non-singular terminal sliding mode control
Funding
- National Natural Science Foundation of China [61976033, 51609033]
- Natural Science Foundation of Liaoning Province [20180520005]
- Key Development Guidance Program of Liaoning Province of China [2019JH8/10100100]
- Soft Science Research Program of Dalian City of China [2019J11CY014]
- Fundamental Research Funds for the Central Universities [3132021106, 3132020110]
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This paper explores robust adaptive path following for uncertain underactuated unmanned surface vehicles. An improved guidance law and adaptive control terms ensure successful path following despite actuator saturation and disturbances. The issue of large sideslips angle in practical navigation is effectively addressed.
This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.
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