IEEE Trans Cybern. 2022 May;52(5):2860-2871. doi: 10.1109/TCYB.2020.3023162. Epub 2022 May 19.
This article presents an improved guidance law for underactuated marine vessels that compensates cross-track error caused by external disturbances through its sideslip. The proposed guidance law demonstrates improved path-following performance regardless of disturbances, such as waves, winds, and ocean currents. This article also presents an adaptive neural-network (NN) control law for the partially known vessel dynamics with state constraints. For satisfying the state constraints, this control scheme adopts an integral barrier Lyapunov function (iBLF)-based backstepping control technique. It is shown that the closed-loop system remains bounded, and state constraints are always satisfied. Finally, the efficacy of the improved guidance law and iBLF-based adaptive control strategy was verified in simulation and experiments using an autonomous surface vessel.
本文提出了一种改进的欠驱动船舶制导律，通过侧滑补偿外部干扰引起的横向误差。所提出的制导律在存在波浪、风、海流等干扰的情况下，表现出了更好的路径跟踪性能。本文还提出了一种针对部分已知船舶动力学和状态约束的自适应神经网络（NN）控制律。为了满足状态约束，该控制方案采用了基于积分障碍李雅普诺夫函数（iBLF）的回溯控制技术。结果表明，闭环系统是有界的，状态约束始终得到满足。最后，利用自主水面船舶在仿真和实验中验证了改进的制导律和基于 iBLF 的自适应控制策略的有效性。
