Abstract
In order to solve the problems of large tracking error and slow error convergence in the tracking process of underactuated asymmetric unmanned surface vehicles (USV) in sharp turns and other extreme paths, an adaptive sliding mode control method based on generalized predictive control (GPC) algorithm (LOS-GPC-SMC) is proposed. Firstly, the path generation part takes into account the mobility constraints of USV, and realizes path generation by GPC combined with Line-of-Sight (LOS). Secondly, due to the asymmetry of the dynamic model of USV, the global homeomorphic differential transformation is used to transform and decouple the state variables of the system. After that, in order to effectively compensate the model uncertainty and external disturbance in the tracking process of USV, the adaptive sliding mode control method is used to design the actual control law to ensure error stabilization and realize path tracking. Finally, the effectiveness of the proposed control strategy is verified by a large number of simulation experiments.
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Jiang, T., Yang, Y., Chen, H., Wang, X., Zhang, D. (2019). Way-Point Tracking Control of Underactuated USV Based on GPC Path Planning. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_34
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DOI: https://doi.org/10.1007/978-3-030-27529-7_34
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