Path-following control of unmanned surface vehicles with unknown dynamics and unmeasured velocities
Path-following control of unmanned surface vehicles with unknown dynamics and unmeasured velocities
复制标题
未知动力学和未测速度的无人地面车辆的路径跟踪控制
DOI：
10.1007/s00773-020-00744-3
复制
发表时间：
2020-06
影响因子：
2.6
通讯作者：
Zhang Rubo
中科院分区：
文献类型：
--
作者：
Qu Xingru;Liang Xiao;Hou Yuanhang;Li Ye;Zhang Rubo
The path-following control problem of an unmanned surface vehicle (USV) with unknown dynamics and unmeasured velocities is addressed in this paper. Main contributions are summarized as below: (1) considering that vehicle velocities are unmeasured directly, a finite-time velocity observer (FVO) is designed by utilizing available position information, which contributes to the path-following control and facilitates the implementation in practical engineering; (2) based on the traditional light-of-sight guidance, a heading-surge (HS) guidance scheme is proposed to guide USV surge velocity and heading angle, simultaneously; (3) in combination with wavelet neural network (WNN) and adaptive technique, unknown dynamics involving model uncertainties and environment interferences can be estimated accurately, thereby significantly enhancing system robustness. By the aid of the HS guidance based adaptive WNN controllers, all the error signals in the closed-loop system are uniformly ultimately bounded (UUB). Besides, simulation studies and comprehensive comparisons are conducted to demonstrate the satisfactory path-following performance and superiority of the proposed scheme.
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