Underactuated ship path tracking based on robust line-of-sight guidance method
A neural network sliding mode controller based on the robust line-of-sight(LOS)guidance method for the path tracking of underactuated ship was proposed to solve the prob-lem of underactuated and ship model uncertainty.Firstly,the robust LOS was utilized to solve the problem that the ship's input degrees of freedom dimension were less than the output degrees of freedom dimension,and at the same time,to re-duce the influence of the differences of ship kinematics.Sec-ondly,the controller was designed by combining the radial ba-sis function neural network and sliding mode to reduce the effect of external disturbances and realize the path tracking of underactuated ships.Finally,the Lyapunov stability theory was applied to prove the stability of the guidance system and the control system.A robust line-of-sight guidance method was introduced to design the guidance system,taking into account the influence of ship kinematic differences while reducing ex-ternal interference.The simulation experiments respectively realize the linear path tracking and curved path tracking of un-deractuated ships,and verify the effectiveness and feasibility of the designed controller.
万方数据
维普
