Robust Adaptive Path Following Controllers for Autonomous Surface Vehicles with Unknown Disturbances
Main Article Content
Abstract
This work presents robust path following controllers with disturbance rejection terms for autonomous surface vehicles in the presence of unknown bounded disturbances. The objective is to steer the vehicle to the desired path while its temporal evolution on the path is defined via a path parameter. The disturbance rejection terms are based on sliding mode control utilizing either constant or time-varying gains. To mitigate the chattering effect in the sliding mode controllers, a continuous adaptive control law based on a normalization technique is subsequently developed. Since the control protocols are proposed as control forces based on the nonlinear dynamics of the surface vehicle, Lyapunov stability theory and backstepping control technique are adopted for the control system design and the global stability analysis. Under the proposed controllers, the vehicle is shown to converge to the desired path asymptotically. Simulation results are also provided to support the theoretical analysis.
Keywords
Autonomous surface vessels, path following, robust adaptive control, sliding mode control
Article Details
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
References
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[7] Caharija et al., Integral line-of-sight guidance and control of underactuated marine vehicles: Theory, simulations, and experiments, IEEE Transactions on Control Systems Technology, vol. 24, no. 5, pp. 1623-1642, Sep. 2016. https://doi.org/10.1109/TCST.2015.2504838
[8] Su Y., Wan L., Zhang D., and Huang F., An improved adaptive integral line-of-sight guidance law for unmanned surface vehicles with uncertainties, Appl. Ocean Res, vol. 108, Mar. 2021, Art. no. 102488. https://doi.org/10.1016/j.apor.2020.102488
[9] Fossen T. I., Pettersen K. Y., On uniform semiglobal exponential stability (USGES) of proportional line-ofsight guidance laws, Automatica, vol. 50, no.11, pp. 2912–2917, Nov. 2024. https://doi.org/10.1016/j.automatica.2014.10.018 [10] H. Xu, C. G. Soares, Vector field path following for surface marine vessel and parameter identification based on LS-SVM. Ocean Eng., vol. 113, pp. 151–161, Feb. 2016. https://doi.org/10.1016/j.oceaneng.2015.12.037
[11] Li M, Guo C, Yu H., Extended state observer-based integral line-of-sight guidance law for path following of underactuated unmanned surface vehicles with uncertainties and ocean currents, International Journal of Advanced Robotic Systems. vol.18(3), May. 2021. https://doi.org/10.1177/17298814211011035
[12] Zhang H, Zhang X, Bu R, Sliding mode adaptive control for ship path following with sideslip angle observer, Ocean Eng, vol. 251, May. 2022, Art. no. 111106. JST: Smart Systems and Devices Volume 34, Issue 3, September 2024, 043-051 51 https://doi.org/10.1016/j.oceaneng.2022.111106
[13] Zhang G, Han J, Li J, Zhang X, APF-based intelligent navigation approach for USV in presence of mixed potential directions: Guidance and control design. Ocean Eng, vol. 260, Sep. 2022, Art. no. 111972. https://doi.org/10.1016/j.oceaneng.2022.111972
[14] T. I. Fossen, Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons, 2011. https://doi.org/10.1002/9781119994138
[15] D. Shevitz, B. Paden, Lyapunov stability theory of nonsmooth systems, IEEE Transactions on Automatic Control, vol. 39, no. 9, pp. 1910–1914, Sep. 1994. https://doi.org/10.1109/9.317122
[16] P. A. Ioannou and J. Sun, Robust Adaptive Control, Courier Corporation, 2012.
[17] A. Haraldsen, M. S. Wiig, K. Y. Pettersen, A theoretical analysis of the velocity obstacle method for nonholonomic vehicles and underactuated surface vessels, IEEE Transactions on Control Systems Technology (Early Access), pp. 1-16, Mar. 2024. https://doi.org/10.1109/TCST.2024.3375023