Data-driven sideslip observer-based adaptive sliding-mode path-following control of underactuated marine vessels

被引：39

作者：

Weng, Yongpeng ^{[1
]}

Wang, Ning ^{[1
]}

Soares, Carlos Guedes ^{[2
]}

机构：

[1] Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Peoples R China

[2] Univ Lisbon, Ctr Marine Technol & Ocean Engn CENTEC, Inst Super Tecn, Lisbon, Portugal

来源：

OCEAN ENGINEERING | 2020年 / 197卷

基金：

中国国家自然科学基金;

关键词：

Data-driven sideslip observer; Underactuated marine vessels; Path-following control; Adaptive sliding-mode control; SURFACE VEHICLES; TRACKING CONTROL; SHIP; SYSTEMS;

D O I：

10.1016/j.oceaneng.2019.106910

中图分类号：

U6 [水路运输]; P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

A novel data-driven sideslip observer-based adaptive sliding-mode path-follo-wing control (DSO-ASPC) scheme is proposed for underactuated marine vessels in the presence of large and time-varying sideslip. Main contributions are as follows: (1) A data-driven sideslip observer (DSO), by estimating both lumped unknown dynamics induced by sideslip angle and the discretization error, is innovatively proposed, and thereby contributing to high-accuracy estimation of large sideslip angle, which is allowed to be time-varying; (2) A DSO-based line-of-sight (DLOS) guidance law is further devised to guide the heading angle and compensate the sideslip; (3) By virtue of the estimated surge speed and heading guidance, data-driven velocity controllers are designed by sliding-mode technique, in addition that theoretical analysis is provided to guarantee asymptotic stability of the overall path-following closed-loop system. Simulation studies are finally conducted to demonstrate the efficiency and superiority of the proposed DSO-ASPC approach.

引用

页数：9

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