Path-Following Control Based on ALOS Guidance Law for USV
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| Wydane w: | Electronics vol. 14, no. 4 (2025), p. 749 |
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| 1. autor: | |
| Kolejni autorzy: | , , , , , , , |
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MDPI AG
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| Dostęp online: | Citation/Abstract Full Text + Graphics Full Text - PDF |
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| 024 | 7 | |a 10.3390/electronics14040749 |2 doi | |
| 035 | |a 3171004767 | ||
| 045 | 2 | |b d20250101 |b d20251231 | |
| 084 | |a 231458 |2 nlm | ||
| 100 | 1 | |a Li, Yanping |u Qingdao Institute of Collaborative Innovation, Qingdao 266071, China; <email>liyp@tju.edu.cn</email> | |
| 245 | 1 | |a Path-Following Control Based on ALOS Guidance Law for USV | |
| 260 | |b MDPI AG |c 2025 | ||
| 513 | |a Journal Article | ||
| 520 | 3 | |a An adaptive line-of-sight (ALOS) guidance law with drift angle compensation is proposed to achieve the path following of unmanned surface vehicles (USVs) under the influence of ocean currents. The ALOS guidance law can calculate the desired heading of USV accurately. Compact Form Dynamic Linearization—Model-Free Adaptive Control (CFDL-MFAC) is used to control the heading. Firstly, the relationship between the path tracking error and the USV model is established. The look-ahead distance is designed as a function related to the tracking error and the speed. The sideslip angle is estimated online and compensated by using the reduced-order state observer. Finally, the heading is controlled using CFDL-MFAC, which is calculated by the ALOS guidance law. The simulation results demonstrate that satisfactory performance has been achieved of the ALOS by comparing the mean absolute error (MAE) and root mean square error (RMSE). | |
| 653 | |a Kinematics | ||
| 653 | |a Simulation | ||
| 653 | |a Velocity | ||
| 653 | |a Accuracy | ||
| 653 | |a Ocean currents | ||
| 653 | |a Wind | ||
| 653 | |a Surface vehicles | ||
| 653 | |a Root-mean-square errors | ||
| 653 | |a Neural networks | ||
| 653 | |a Data assimilation | ||
| 653 | |a Adaptation | ||
| 653 | |a Sideslip | ||
| 653 | |a Path tracking | ||
| 653 | |a Line of sight | ||
| 653 | |a Guidance (motion) | ||
| 653 | |a Adaptive control | ||
| 653 | |a Unmanned vehicles | ||
| 653 | |a Methods | ||
| 653 | |a Tracking errors | ||
| 653 | |a Trajectory planning | ||
| 653 | |a Energy consumption | ||
| 653 | |a State observers | ||
| 700 | 1 | |a Wan, Junhe |u Institute of Oceanographic Instrumentation, Qilu University of Technology, Qingdao 266318, China; <email>wan_junhe@qlu.edu.cn</email> (J.W.); <email>10431230548@stu.qlu.edu.cn</email> (Z.S.); <email>yuzhen8907@qlu.edu.cn</email> (Z.Y.); <email>lijunxiao521@qlu.edu.cn</email> (J.L.); <email>202280030054@stu.qlu.edu.cn</email> (Y.Y.) | |
| 700 | 1 | |a Wang, Xiaolei |u Intelligent Game and Decision Lab, Academy of Military Science, Beijing 100091, China | |
| 700 | 1 | |a Sun, Zeqiang |u Institute of Oceanographic Instrumentation, Qilu University of Technology, Qingdao 266318, China; <email>wan_junhe@qlu.edu.cn</email> (J.W.); <email>10431230548@stu.qlu.edu.cn</email> (Z.S.); <email>yuzhen8907@qlu.edu.cn</email> (Z.Y.); <email>lijunxiao521@qlu.edu.cn</email> (J.L.); <email>202280030054@stu.qlu.edu.cn</email> (Y.Y.) | |
| 700 | 1 | |a Li, Hui |u Institute of Oceanographic Instrumentation, Qilu University of Technology, Qingdao 266318, China; <email>wan_junhe@qlu.edu.cn</email> (J.W.); <email>10431230548@stu.qlu.edu.cn</email> (Z.S.); <email>yuzhen8907@qlu.edu.cn</email> (Z.Y.); <email>lijunxiao521@qlu.edu.cn</email> (J.L.); <email>202280030054@stu.qlu.edu.cn</email> (Y.Y.) | |
| 700 | 1 | |a Yu, Zhen |u Institute of Oceanographic Instrumentation, Qilu University of Technology, Qingdao 266318, China; <email>wan_junhe@qlu.edu.cn</email> (J.W.); <email>10431230548@stu.qlu.edu.cn</email> (Z.S.); <email>yuzhen8907@qlu.edu.cn</email> (Z.Y.); <email>lijunxiao521@qlu.edu.cn</email> (J.L.); <email>202280030054@stu.qlu.edu.cn</email> (Y.Y.) | |
| 700 | 1 | |a Kou, Lei |u Institute of Oceanographic Instrumentation, Qilu University of Technology, Qingdao 266318, China; <email>wan_junhe@qlu.edu.cn</email> (J.W.); <email>10431230548@stu.qlu.edu.cn</email> (Z.S.); <email>yuzhen8907@qlu.edu.cn</email> (Z.Y.); <email>lijunxiao521@qlu.edu.cn</email> (J.L.); <email>202280030054@stu.qlu.edu.cn</email> (Y.Y.) | |
| 700 | 1 | |a Li, Junxiao |u Institute of Oceanographic Instrumentation, Qilu University of Technology, Qingdao 266318, China; <email>wan_junhe@qlu.edu.cn</email> (J.W.); <email>10431230548@stu.qlu.edu.cn</email> (Z.S.); <email>yuzhen8907@qlu.edu.cn</email> (Z.Y.); <email>lijunxiao521@qlu.edu.cn</email> (J.L.); <email>202280030054@stu.qlu.edu.cn</email> (Y.Y.) | |
| 700 | 1 | |a Yang, Yang |u Institute of Oceanographic Instrumentation, Qilu University of Technology, Qingdao 266318, China; <email>wan_junhe@qlu.edu.cn</email> (J.W.); <email>10431230548@stu.qlu.edu.cn</email> (Z.S.); <email>yuzhen8907@qlu.edu.cn</email> (Z.Y.); <email>lijunxiao521@qlu.edu.cn</email> (J.L.); <email>202280030054@stu.qlu.edu.cn</email> (Y.Y.) | |
| 773 | 0 | |t Electronics |g vol. 14, no. 4 (2025), p. 749 | |
| 786 | 0 | |d ProQuest |t Advanced Technologies & Aerospace Database | |
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