Simultaneous modeling and backstepping control algorithm for trajectory tracking of underactuated USV based on real-time sailing data in complex ocean conditions
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View abstract on PubMed
Summary
This summary is machine-generated.This study introduces a new method for unmanned surface vessels (USVs) to accurately follow paths in challenging seas. It uses advanced modeling and control techniques for reliable navigation.
Area Of Science
- Robotics and Control Systems
- Ocean Engineering
- Marine Autonomous Systems
Background
- Underactuated unmanned surface vessels (USVs) face challenges in trajectory tracking due to complex ocean dynamics.
- Traditional models like the Fossen model may not fully capture the intricacies of USV maneuvering.
- Accurate parameter identification is crucial for effective USV control system design.
Purpose Of The Study
- To develop a high-precision maneuvering motion group (MMG) model for underactuated USVs.
- To propose a novel multi-innovation least squares (MILS) algorithm for accurate online identification of USV model parameters.
- To design a robust backstepping control algorithm enhanced by a nonlinear composite disturbance observer.
Main Methods
- Established a high-precision maneuvering motion group (MMG) model for USVs.
- Developed a multi-innovation least squares (MILS) algorithm for online parameter identification using real-time data.
- Introduced virtual point position and intermediate states to simplify backstepping controller design.
- Designed a nonlinear composite disturbance observer to mitigate modeling errors and ocean disturbances.
Main Results
- The MILS algorithm achieved high accuracy in identifying USV model parameters from real-time data.
- The proposed backstepping control algorithm, incorporating the disturbance observer, demonstrated enhanced stability and robustness.
- Simulation experiments validated the effectiveness and reliability of the developed trajectory tracking approach for underactuated USVs.
Conclusions
- The novel MMG model and MILS identification algorithm provide a more accurate representation of USV dynamics.
- The integrated control strategy effectively addresses trajectory tracking challenges in complex ocean environments.
- The proposed method offers a reliable solution for autonomous navigation of underactuated USVs.
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