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Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

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Abstract

The path following problem for an underactuated unmanned surface vehicle (USV) in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system (a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system (a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller (BADSMC) is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control (DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.

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Authors and Affiliations

  1. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China

    Yu-lei Liao  (廖煜雷), Ming-jun Zhang  (张铭钧) & Lei Wan  (万磊)

  2. College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, 150001, China

    Ming-jun Zhang  (张铭钧)

Authors
  1. Yu-lei Liao  (廖煜雷)
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  2. Ming-jun Zhang  (张铭钧)
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  3. Lei Wan  (万磊)
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Corresponding author

Correspondence to Yu-lei Liao  (廖煜雷).

Additional information

Foundation item: Project(51409061) supported by the National Natural Science Foundation of China; Project(2013M540271) supported by China Postdoctoral Science Foundation; Project(LBH-Z13055) supported by Heilongjiang Postdoctoral Financial Assistance, China; Project (HEUCFD1403) supported by Basic Research Foundation of Central Universities, China

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Liao, Yl., Zhang, Mj. & Wan, L. Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties. J. Cent. South Univ. 22, 214–223 (2015). https://doi.org/10.1007/s11771-015-2512-z

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  • DOI: https://doi.org/10.1007/s11771-015-2512-z

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