Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles
Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles
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DOI：
10.1109/acc.2010.5530450
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发表时间：
2010-07
期刊：
影响因子：
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通讯作者：
H. Ashrafiuon;K. Muske;Lucas C. McNinch
中科院分区：
文献类型：
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作者：
H. Ashrafiuon;K. Muske;Lucas C. McNinch
本文综述了自动欠驱动水面舰艇的设定值、轨迹跟踪和路径跟踪控制的不同方法。该综述的重点是在过去大约二十年中使用平面自主水面船舶模型开发的严格控制方法。将控制器分为设定值控制方法、轨迹跟踪方法和路径跟踪方法，并将其进一步分为不连续控制律和光滑时变控制律。概述了每种方法的配方、优点和缺点。尽管在自主欠驱动水面舰艇控制方面已经取得了很大进展，但这些方法仍然需要不断发展，以实现在高海况和不确定和非结构化环境中存在外部干扰的实际自主无人水面舰艇（USV）平台上实施的鲁棒实时控制律。
A review of different approaches to setpoint, trajectory tracking, and path following control for autonomous underactuated surface vessels is presented in this work. The review is focused on rigorous control approaches developed using planar autonomous surface vessel models over approximately the last two decades. The controllers are categorized into setpoint, trajectory tracking, and path following approaches with further classification into discontinuous and smooth time-varying control laws for the setpoint control approaches. An overview of the formulation, advantages, and disadvantages of each approach is presented. Although much progress has been made in autonomous underactuated surface vessel control, there remains a need for the evolution of these approaches to achieve robust, real-time control laws that can be implemented on actual autonomous Unmanned Surface Vessel (USV) platforms in the presence of high sea states and external disturbances in uncertain and unstructured environments.