Journal of Marine Science and Application

, Volume 16, Issue 2, pp 225–236 | Cite as

Inverse optimal control for speed-varying path following of marine vessels with actuator dynamics

  • Yang Qu
  • Haixiang Xu
  • Wenzhao Yu
  • Hui Feng
  • Xin Han
Article

Abstract

A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.

Keywords

path following line-of-sight guidance optimal control backstepping actuator dynamics 

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Copyright information

© Harbin Engineering University and Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  • Yang Qu
    • 1
    • 2
  • Haixiang Xu
    • 1
    • 2
  • Wenzhao Yu
    • 1
    • 2
  • Hui Feng
    • 1
    • 2
  • Xin Han
    • 1
    • 2
  1. 1.Key Laboratory of High Performance Ship Technology of Ministry of EducationWuhan University of TechnologyWuhanChina
  2. 2.School of TransportationWuhan University of TechnologyWuhanChina

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