Hyperbolic-tangent LOS guidance-based finite-time path following of underactuated marine vehicles

Ning Wang; Choon Ki Ahn

doi:10.1109/TIE.2019.2947845

Hyperbolic-tangent LOS guidance-based finite-time path following of underactuated marine vehicles

Ning Wang, Choon Ki Ahn

Research output: Contribution to journal › Article › peer-review

88 Citations (Scopus)

Abstract

In this article, a novel hyperbolic-tangent line-of-sight (LOS) guidance-based finite-time path following (HLOS-FPF) framework is created to render an underactuated marine vehicle (UMV) rapidly and accurately follow the desired path, in the presence of complex unknowns including internal dynamics, external disturbances, and arbitrary sideslip. By defining a virtually desired sideslip angle of which the tangent-nonlinearity is exactly identified by a finite-time sideslip observer, the hyperbolic-tangent LOS (HLOS) guidance laws collaboratively governing heading, surge, and virtual ship velocity are devised in a finite-time manner such that cross-track error sensitively excites heading guidance. With the aid of nonsmooth auxiliary dynamics, guidance errors are finely dominated with finite-time convergence. Finite-time heading and surge controllers are further synthesized by integral and nonsingular terminal sliding-mode techniques, and ensure that HLOS guidance signals can be exactly tracked, whereby complex unknowns are exactly compensated by finite-time unknown observer. Eventually, nonsmooth analysis together with Lyapunov approach guarantees that the entire HLOS-FPF scheme is globally finite-time stable and contributes to exact path-following under heading-surge collaborative guidance. Simulation results and comprehensive comparisons with typical methods demonstrate remarkable superiority of the innovative HLOS-FPF scheme.

Original language	English
Article number	8879681
Pages (from-to)	8566-8575
Number of pages	10
Journal	IEEE Transactions on Industrial Electronics
Volume	67
Issue number	10
DOIs	https://doi.org/10.1109/TIE.2019.2947845
Publication status	Published - 2020 Oct

Bibliographical note

Funding Information:
Manuscript received May 27, 2019; revised August 28, 2019; accepted October 4, 2019. Date of publication October 22, 2019; date of current version June 3, 2020. This work was supported in part by the National Natural Science Foundation of China under Grant 51009017 and Grant 51379002, in part by the Fund for Dalian Distinguished Young Scholars under Grant 2016RJ10, in part by the Fund for Liaoning Innovative Talents in Colleges and Universities under Grant LR2017024, in part by the Liaoning Revitalization Talents Program under Grant XLYC1807013, in part by the Stable Supporting Fund of Science and Technology on Underwater Vehicle Laboratory (SXJQR2018WDKT03), in part by the Fundamental Research Funds for the Central Universities under Grant 3132019344, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. (Corresponding author: Ning Wang.) N. Wang is with the Center for Intelligent Marine Vehicles and School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China (e-mail: [email protected]).

Publisher Copyright:
© 1982-2012 IEEE.

Keywords

Finite-time path following (FPF)
heading-surge collaboration
hyperbolic-tangent LOS (HLOS) guidance
underactuated marine vehicle (UMV)

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

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10.1109/TIE.2019.2947845

Cite this

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title = "Hyperbolic-tangent LOS guidance-based finite-time path following of underactuated marine vehicles",

abstract = "In this article, a novel hyperbolic-tangent line-of-sight (LOS) guidance-based finite-time path following (HLOS-FPF) framework is created to render an underactuated marine vehicle (UMV) rapidly and accurately follow the desired path, in the presence of complex unknowns including internal dynamics, external disturbances, and arbitrary sideslip. By defining a virtually desired sideslip angle of which the tangent-nonlinearity is exactly identified by a finite-time sideslip observer, the hyperbolic-tangent LOS (HLOS) guidance laws collaboratively governing heading, surge, and virtual ship velocity are devised in a finite-time manner such that cross-track error sensitively excites heading guidance. With the aid of nonsmooth auxiliary dynamics, guidance errors are finely dominated with finite-time convergence. Finite-time heading and surge controllers are further synthesized by integral and nonsingular terminal sliding-mode techniques, and ensure that HLOS guidance signals can be exactly tracked, whereby complex unknowns are exactly compensated by finite-time unknown observer. Eventually, nonsmooth analysis together with Lyapunov approach guarantees that the entire HLOS-FPF scheme is globally finite-time stable and contributes to exact path-following under heading-surge collaborative guidance. Simulation results and comprehensive comparisons with typical methods demonstrate remarkable superiority of the innovative HLOS-FPF scheme. ",

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author = "Ning Wang and {Ki Ahn}, Choon",

note = "Funding Information: Manuscript received May 27, 2019; revised August 28, 2019; accepted October 4, 2019. Date of publication October 22, 2019; date of current version June 3, 2020. This work was supported in part by the National Natural Science Foundation of China under Grant 51009017 and Grant 51379002, in part by the Fund for Dalian Distinguished Young Scholars under Grant 2016RJ10, in part by the Fund for Liaoning Innovative Talents in Colleges and Universities under Grant LR2017024, in part by the Liaoning Revitalization Talents Program under Grant XLYC1807013, in part by the Stable Supporting Fund of Science and Technology on Underwater Vehicle Laboratory (SXJQR2018WDKT03), in part by the Fundamental Research Funds for the Central Universities under Grant 3132019344, and in part by the National Research Foundation of Korea through the Ministry of Science, ICT and Future Planning under Grant NRF-2017R1A1A1A05001325. (Corresponding author: Ning Wang.) N. Wang is with the Center for Intelligent Marine Vehicles and School of Marine Electrical Engineering, Dalian Maritime University, Dalian 116026, China (e-mail: [email protected]). Publisher Copyright: {\textcopyright} 1982-2012 IEEE.",

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Hyperbolic-tangent LOS guidance-based finite-time path following of underactuated marine vehicles

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

UN SDGs

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