Surge-Heading Guidance-Based Finite-Time Path Following of Underactuated Marine Vehicles

In this paper, a surge-heading guidance-based finite-time path-following control (SHG-FPC) scheme is created for an underactuated marine vehicle with complex unknowns. In lieu of line-of-sight guidance, both surge and heading can be guided by adapting to path-following errors and this can greatly en...

Full description

Saved in:
Bibliographic Details
Published in:IEEE transactions on vehicular technology 2019-09, Vol.68 (9), p.8523-8532
Main Authors: Wang, Ning, Sun, Zhuo, Jiao, Yuhang, Han, Guangjie
Format: Article
Language:English
Subjects:
Autonomy
Control theory
Decision making
finite-time control
Kinematics
Marine vehicles
Observers
path following
Stability
Sun
Surge-heading guidance
Surges
Trajectory planning
Uncertainty
underactuated marine vehicle
Vehicle dynamics
Citations: Items that this one cites
Items that cite this one
Online Access:Get full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:In this paper, a surge-heading guidance-based finite-time path-following control (SHG-FPC) scheme is created for an underactuated marine vehicle with complex unknowns. In lieu of line-of-sight guidance, both surge and heading can be guided by adapting to path-following errors and this can greatly enhance the decision-making autonomy pertaining to guidance of kinematics and dynamics, simultaneously. Complex unknowns can be exactly identified by virtue of the devised finite-time uncertainty observer (FUO), by which FUO-based nonsmooth control laws are able to achieve accurate guidance tracking, and thereby, contributing to entire finite-time path-following performance with strong robustness. Simulation results demonstrate the remarkable performance of the proposed SHG-FPC scheme.
ISSN:0018-9545
1939-9359
DOI:10.1109/TVT.2019.2927893