Trajectory Tracking and Docking Control Strategy for Unmanned Surface Vehicles in Water-Based Search and Rescue Missions
Abstract
:1. Introduction
- (1)
- This paper proposes an ITATG method based on [28], which outputs a high-order continuously differentiable trajectory considering endpoint velocity and acceleration constraints, thus addressing the issue of discontinuity at waypoints. Compared to the trajectory in [28], the proposed trajectory generation method significantly alleviate the convex hull situation and make the generated trajectory significantly close to multi-segment polylines.
- (2)
- This paper presents an FTSOALOS guidance law that contains heading guidance and longitudinal velocity guidance. The FTSOALOS integrates FTSO for guaranteed positional error convergence within a fixed time around the origin. Moreover, considering the limitations of a constant forward line-of-sight distance during the actual operation of SRUSV, a variable forward line-of-sight distance strategy that changes with the positional error is designed to expedite the system’s convergence speed further.
- (3)
- A new FTETSMC strategy is proposed for SRUSV, which integrates a fixed-time sliding mode controller with a relative threshold event-triggering strategy. This strategy aims to alleviate network pressure and reduce actuator failure rates by reducing the number of actuator actions. Additionally, it considers the impact of external disturbances on control accuracy. A FOFTDO is proposed to observe external disturbances. The first-order form of this observer helps alleviate computational pressure on terminal devices.
2. Preliminaries, Lemma, and Problem Formulation
2.1. Preliminaries and Lemma
2.2. SRUSV Model
2.3. Control Objectives
3. ITATG Trajectory Generation Design
4. Fixed-Time LOS Guidance Law Design
4.1. Positional Error Dynamics
4.2. FTSO Design
4.3. FTSOALOS Guidance Law Design
5. FTETSMC Design
5.1. FOFTDO Design
5.2. Fixed-Time Intermediate Sliding Mode Controller Design
5.3. Relative Threshold Event-Triggered Controller Design
6. Simulation Studies
7. Conclusions
Author Contributions
Funding
Conflicts of Interest
Abbreviations
SRUSV | Search and Rescue Unmanned Surface Vehicle |
ITATG | Improved Time Allocation Trajectory Generation |
FTSOALOS | Fixed-Time Sideslip Angle Observer-based Adaptive Line-of-Sight |
FTSO | Fixed-Time Sideslip Angle Observer |
FOFTDO | First-Order Fixed-Time Disturbance Observer |
FTETSMC | Fixed-Time Event-Triggered Sliding Mode Control |
USVs | Unmanned Surface Vessels |
LOS | Line-of-Sight |
FESO | Fixed-time Extended State Observer |
FESO | Fixed-time Sliding Mode Control |
DP | Dynamic Positioning |
FFC | Finite-time Fault-tolerant Control |
ABFTSMC | Adaptive Backstepping Fast Terminal Sliding Mode Control |
AB | A* algorithm with the Bezier curve |
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Name | Parameters |
---|---|
FTSO | , , |
, , | |
FTSOALOS | , , , |
, , , | |
FOFTDO | , , , |
FTETSMC | , , , |
, , | |
, , = 20,000, | |
, , | |
, |
Method | IAE | ITAE |
---|---|---|
FTETSMC + FTSOALOS | IAE() = 26.8 | ITAE() = 428 |
IAE() = 35.21 | ITAE() = 976.7 | |
FTSMC + FTLOS | IAE() = 71.8 | ITAE() = 2920 |
IAE() = 141.9 | ITAE() = 1306 | |
SMC + LOS | IAE() = 90.2 | ITAE() = 3259 |
IAE() = 160 | ITAE() = 2994 |
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Share and Cite
Bai, Y.; Wang, Y.; Wang, Z.; Zheng, K. Trajectory Tracking and Docking Control Strategy for Unmanned Surface Vehicles in Water-Based Search and Rescue Missions. J. Mar. Sci. Eng. 2024, 12, 1462. https://doi.org/10.3390/jmse12091462
Bai Y, Wang Y, Wang Z, Zheng K. Trajectory Tracking and Docking Control Strategy for Unmanned Surface Vehicles in Water-Based Search and Rescue Missions. Journal of Marine Science and Engineering. 2024; 12(9):1462. https://doi.org/10.3390/jmse12091462
Chicago/Turabian StyleBai, Yiming, Yiqi Wang, Zheng Wang, and Kai Zheng. 2024. "Trajectory Tracking and Docking Control Strategy for Unmanned Surface Vehicles in Water-Based Search and Rescue Missions" Journal of Marine Science and Engineering 12, no. 9: 1462. https://doi.org/10.3390/jmse12091462