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Finite-time command-filtered autonomous docking control of underactuated unmanned surface vehicles with obstacle

Bingwen Liu1, Jiapeng Liu1, Jinpeng Yu1

  • 1School of Automation, Qingdao University, Qingdao 266071, China; Shandong Key Laboratory of Industrial Control Technology, Qingdao University, Qingdao 266071, China.

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Summary

This study introduces a new control strategy for autonomous docking of underactuated unmanned surface vehicles (USV). The method unifies path planning and motion control, enhancing USV docking performance and feasibility.

Keywords:
Artificial potential fieldCommand-filtered controlFinite-time controlUnderactuated unmanned surface vehicle

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Area of Science:

  • Robotics
  • Control Systems
  • Marine Engineering

Background:

  • Autonomous docking of unmanned surface vehicles (USV) presents challenges due to underactuation and environmental disturbances.
  • Existing methods often separate path planning and motion control, leading to suboptimal performance.
  • Complex control algorithms can suffer from the 'explosion of complexity' issue.

Purpose of the Study:

  • To develop a novel, integrated control strategy for autonomous docking of underactuated USVs.
  • To unify path planning and motion control using an improved artificial potential field (APF) approach.
  • To enhance robustness against unknown nonlinear disturbances and reduce filtering errors.

Main Methods:

  • Integration of finite-time command-filtered backstepping with an improved artificial potential field (APF).
  • Utilizing controller-generated force to replace traditional APF attractive force for unified control.
  • Employing a finite-time command filter with error compensation to mitigate complexity and filtering errors.
  • Embedding a fuzzy logic system to address unknown nonlinear disturbances.

Main Results:

  • The proposed control strategy successfully achieved autonomous docking for underactuated USVs.
  • Simulation outcomes demonstrated the feasibility and superior performance of the integrated approach.
  • The method effectively unified path planning and motion control, improving docking efficiency.

Conclusions:

  • The novel control strategy offers a robust and efficient solution for autonomous USV docking.
  • The integration of finite-time control, improved APF, and fuzzy logic provides significant advantages.
  • This research contributes to the advancement of autonomous marine systems and control theory.