Obálka

Path-Following Control Based on ALOS Guidance Law for USV

Uloženo v:
Vydáno v:Electronics vol. 14, no. 4 (2025), p. 749
Hlavní autor: Li, Yanping
Další autoři: Wan, Junhe, Wang, Xiaolei, Sun, Zeqiang, Li, Hui, Yu, Zhen, Kou, Lei, Li, Junxiao, Yang, Yang
Vydáno:
MDPI AG
Témata:
Kinematics
Simulation
Velocity
Accuracy
Ocean currents
Wind
Surface vehicles
Root-mean-square errors
Neural networks
Data assimilation
Adaptation
Sideslip
Path tracking
Line of sight
Guidance (motion)
Adaptive control
Unmanned vehicles
Methods
Tracking errors
Trajectory planning
Energy consumption
State observers
On-line přístup:Citation/Abstract
Full Text + Graphics
Full Text - PDF
Tagy: Přidat tag
Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!
Abstrakt: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).
ISSN:2079-9292
DOI:10.3390/electronics14040749
Zdroj:Advanced Technologies & Aerospace Database