Study On Path Following Control Of Underactuated Surface Vessels Motion

This paper is originated from scientific item of path following and rapidity of high speed planning craft,which mainly purpose is to design the high-performance path following controller to satisfy the accurate tracking of expected path in the process of the actual sailing.Meanwhile,in the light of characteristics of rapidity,make the speed of high speed planning craft to satisfy the actual requirement.On this basis,We addressed the research as follows:Firstly,establishes inertial coordinate system and appendage coordinate system for high speed planning craft,and gives coordinate transformation relation.On the basis,deduce the motion model of high speed planning craft,and deduce the six-degree-of-freedom dynamic model of high speed planning craft which use the Newton-Euler equation in the appendage coordinate system.We get the model which including the outside disturbance by simplifying the six DOF model,and prove the validity of the model through some simulation experiments.so as to set base for the following design of the controller.Considering the characteristics of the high-speed,analyze the hydrodynamic mechanisms of stern flap,and accept the optimal parameter through simulation experiments.Secondly,Design the navigation algorithm for the controller of path following adopt line of sight guidance method,in view of the different paths,respectively navigation algorithm is designed.in the process of path following,high speed planning craftwould deviating from the expected course under the affect of the external environment disturbance.so we revise the expected expected course by bring in the sideslip angle,and ensure the tracking error converge to zero.At last,design simulation experiment which prove the correctness of the algorithm.Laid a solid foundation for the following design of the controller.Then,Design the path following controller,the dynamic surface control technique(DSC)is applied to the design against the disadvantages of high order differential item in the traditional back stepping path following controller,in order to avoid high order differential item,we make the high order differential item through into a fist-order low-pass filter as to derivative of control function,which reduce the difficulty of the controller.the DSC technology is applied to design the speed controller and course controller,and design simulation experiment which include the condition of environment disturbance for the controller,The simulation results also show the correctness of the controller which based on dynamic surface control technique.At last,To improve the controller based on the DSC with the introduction of the active disturbance rejection control technique(ADRC).Design the controller with combines the DSC technology with ADRC technology,which reduce the condition of the accuracy requirement of the mathematical model,the new controller only related to the input and output of the system.Then design simulation experiment which include the condition of environment disturbance and the model perturbation.By comparison with experimental results,we make a contrast between DSC and the results show that the DS-ADRC is higher disruptive and higher rapidity than the DSC.in the process of path following,the DS-ADRC could meet the requirement under various conditions.