Adaptive sliding-mode path following control system of the underactuated USV under the influence of ocean currents

doi:10.21629/JSEE.2018.06.14

Journal of Systems Engineering and Electronics ›› 2018, Vol. 29 ›› Issue (6): 1271-1283.doi: 10.21629/JSEE.2018.06.14

• Control Theory and Application • Previous Articles Next Articles

Adaptive sliding-mode path following control system of the underactuated USV under the influence of ocean currents

Xiao CHEN(), Zhong LIU*(), Jianqiang ZHANG(), Dechao ZHOU(), Jiao DONG()

School of Weaponry Engineering, Naval University of Engineering, Wuhan 430000, China

Received:2017-07-18 Online:2018-12-25 Published:2018-12-26
Contact: Zhong LIU E-mail:15623115746@163.com;liuzh531@163.com;zhangjianq@yahoo.cn;zhoujdc@yahoo.cn;1124668612@qq.com
About author:CHEN Xiao was born in 1990. He received his M.S. degree in communication engineering from Naval University of Engineering (NUE), Wuhan, China, in 2015. He is currently a Ph.D. candidate at Shipborne Command & Control Department, NUE. His research interests include the guidance and control of USV, and stability of nonlinear system. E-mail: 15623115746@163.com|LIU Zhong was born in 1963. He received his M.S. and Ph.D. degrees from NUE, Wuhan, China, in 1984 and 2004 respectively. He is currently a full professor at Shipborne Command & Control Department, NUE. His research interests include nonlinear systems and robust control. E-mail: liuzh531@163.com|ZHANG Jianqiang was born in 1980. He received his M.S. and Ph.D. degrees from National University of Defense Technology (NUDT), Changsha, China, in 2005 and NUE, Wuhan, China, in 2015. He is currently an associate professor at NUE. His research interests include nonlinear systems and robust control. E-mail: zhangjianq@yahoo.cn|ZHOU Dechao was born in 1972. He received his M.S. and Ph.D. degrees from NUE, Wuhan, China, in 2001 and 2008 respectively. He is currently an associate professor at NUE. His research interests include nonlinear systems and robust control. E-mail: zhoujdc@yahoo.cn|DONG Jiao was born in 1991. He received his M.S. degree in Communication Engineering from NUE, Wuhan, China, in 2016. He is currently a Ph.D. candidate at Shipborne Command & Control Department, NUE. His research interests include the guidance and control of USV, stability of nonlinear system. E-mail: 1124668612@qq.com
Supported by:
the Pre-research Fund of Equipment(9140A01010415JB11002);This work was supported by the Pre-research Fund of Equipment(9140A01010415JB11002)

Abstract

Abstract:

The path-following control of the asymmetry underactuated unmanned surface vehicle (USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode path-following control system is proposed, which comprises a path-variable updated law, a modified integral line-of-sight (ILOS) guidance law based on a time-varying lookahead distance and adaptive feedback linearizing controllers combined with sliding-mode technique. A more accurate USV model without the assumption of having diagonal inertia and damping matrices is first presented, aiming at improving the performance of the path-following control. Next, the coordinate transformation is adopted to decouple the sway dynamic from the rudder angle, and the path-following errors dynamics without non-singular problem are presented in the moving Frenet-Serret frame. Then, based on the cascaded theorem and the adaptive sliding-mode method, the adaptive control law of position errors and course error are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively. Finally, according to the Lyapunov and cascaded theorem, the control system proposed is proved to be uniform globally asymptotic stability (UGAS) and uniform semiglobal exponential stability (USGES) when the control objectives are all achieved. Simulation results illustrate the precision and high-quality performance of this new controller.

Key words: sliding-mode control, unmanned surface vehicle (USV), integral line-of-sight (ILOS), path following, proof of stability

Xiao CHEN, Zhong LIU, Jianqiang ZHANG, Dechao ZHOU, Jiao DONG. Adaptive sliding-mode path following control system of the underactuated USV under the influence of ocean currents[J]. Journal of Systems Engineering and Electronics, 2018, 29(6): 1271-1283.

Figures/Tables 16

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Adaptive sliding-mode path following control system of the underactuated USV under the influence of ocean currents

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