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Path Following of Underactuated Unmanned Surface Vehicle Based on Trajectory Linearization Control with Input Saturation and External Disturbances

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Abstract

This paper investigates the path following control problem for underactuated unmanned surface vehicle (USV) in the presence of unmodeled dynamics, external disturbances and input saturation. A novel adaptive robust path following control scheme is proposed by employing trajectory linearization control (TLC) technology and finite-time disturbance observer, which is composed of a concise yaw rate controller and a surge speed controller. The salient features of the proposed scheme include: a path following guidance law is designed to ensure USV effectively converging to and following the desired path; TLC is introduced into the field of USV motion control as new effective technique, and it is the first time used to design path following controller for underactuated USV; a finite-time nonlinear tracking differentiator is constructed not only to avoid the signal jump caused by derivation, but also to filter noise and high frequency interference. A finite-time disturbance observer (FDO) is devised to exactly observe the uncertain dynamics and unknown external disturbances, which improves the tracking accuracy and precise disturbance rejection of the proposed controller; then, an auxiliary dynamic system that is governed by smooth switching function is developed to compensate for the saturation constraint on actuator. Stability analysis verifies that all signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results and comparisons illustrate the superiority of the proposed control scheme.

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Authors and Affiliations

  1. Marine Electrical Engineering College, Dalian Maritime University, Dalian, 116026, China

    Bingbing Qiu, Guofeng Wang, Yunsheng Fan, Dongdong Mu & Xiaojie Sun

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  1. Bingbing Qiu
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  2. Guofeng Wang
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  3. Yunsheng Fan
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  4. Dongdong Mu
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Correspondence to Guofeng Wang.

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Publisher’s Note Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Recommended by Associate Editor Muhammad Rehan under the direction of Editor Myo Taeg Lim. This work was supported by the National Natural Science Foundation of China (grand number 51609033), the Natural Science Foundation of Liaoning Province (grand number 20180520005), the Key Development Guidance Program of Liaoning Province of China (grand number 2019JH8/10100100), the Soft Science Research Program of Dalian City of China (grand number 2019J11CY014) and the Fundamental Research Funds for the Central Universities (grand numbers 3132019005, 3132019311).

Bingbing Qiu received his M.S. degree in Control theory and Engineering from Dalian Maritime University, Dalian, China, in 2017. He is now pursuing a Ph.D. degree in control theory and control engineering at Dalian Maritime University. His research interests include nonlinear control and intelligent control of unmanned surface vehicle.

Guobeng Wang received his Ph.D. degree from Dalian Maritime University. He is currently a Professor in Dalian Maritime University, and his research interests include ship automation, advanced ship borne detection device and advanced power transmission.

Yunbheng Fan received his Ph.D. degree from Dalian Maritime University in 2012. He is currently a Lecturer in Dalian Maritime University, and his research interests are ship intelligent control and its application.

Dongdong Mu received his M.S. degree in Control theory and Engineering from Dalian Maritime University in 2015, and he is now pursuing a Ph.D. degree in control theory and control engineering at Dalian Maritime University. His research interests include modeling and intelligent control of unmanned surface vehicle.

Xiaojie Sun received his M.E. degree in control engineering from Dalian Maritime University, Dalian, China, in 2016, and he is now pursuing a Ph.D. degree in control theory and control engineering at Dalian Maritime University. His research interests include modeling and collision avoidance control of unmanned surface vehicle.

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Qiu, B., Wang, G., Fan, Y. et al. Path Following of Underactuated Unmanned Surface Vehicle Based on Trajectory Linearization Control with Input Saturation and External Disturbances. Int. J. Control Autom. Syst. 18, 2108–2119 (2020). https://doi.org/10.1007/s12555-019-0659-3

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  • DOI: https://doi.org/10.1007/s12555-019-0659-3

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