3DOF Adaptive Line-Of-Sight Based Proportional Guidance Law for Path Following of AUV in the Presence of Ocean Currents
Source abstract
Abstract
In order to achieve high-precision path following of autonomous underwater vehicle (AUV) in the horizontal plane, a three degrees-of-freedom adaptive line-of-sight based proportional (3DOFAPLOS) guidance law is proposed. Firstly, the path point coordinate system is introduced, which is suitable for the conversion of an arbitrary path. Then, the appropriate look-ahead distance is obtained by an improved adaptive line-of-sight (ALOS) according to three degrees-of-freedom (3DOF), including the cross-track error, the curvature of reference path, and the forward speed. Moreover, combining three degrees-of-freedom ALOS (3DOFALOS) with proportional guidance law, the desired heading is calculated considering the drift angle. 3DOFAPLOS has two functions: in the convergence stage, 3DOFALOS plays a leading role, making AUV converge to the path more quickly and smoothly. In the guidance stage, proportional guidance law plays a major role in effectively resisting the influence of drift angle and making AUV sail along the reference path. If the path is curved, 3DOFALOS makes contributions in both stages, adjusting look-ahead distance in real time with respect to curvature. The stability of the designed closed system is proved by Lyapunov theory. Both simulation and experiment results have verified that 3DOFAPLOS has a satisfactory result, which improves tracking performance more than 50% compared with the traditional line-of-sight (LOS). Specifically, the mean average error (MAE) of path following under 3DOFAPLOS can be reduced by about 60%, and the root mean square error (RMSE) can be reduced by about 50% compared with LOS.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Underwater Vehicles and Communication Systems · Robotic Path Planning Algorithms · Adaptive Control of Nonlinear Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
School of Information Science and Engineering, Ocean University of China, Qingdao 266100, China
Funding
National Natural Science Foundation of China · The Natural Key Research and Development Program of China
References (36)
Show source-provided references
1. Dunwen, W., Feiran, W., and Hongjiao, M. (2019). Autonomous Path Planning of AUV in Large-Scale Complex Marine Environment Based on Swarm Hyper-Heuristic Algorithm. Appl. Sci., 9.10.3390/app9132654 ↗
2. Autonomous Underwater Vehicles (AUVs): Their past, present and future contributions to the advancement of marine geoscience10.1016/j.margeo.2014.03.012 ↗
3. A model-driven implementation to realize controllers for Autonomous Underwater Vehicles10.1016/j.apor.2018.06.020 ↗
4. Nonlinear path-following control of an AUV10.1016/j.oceaneng.2006.10.019 ↗
5. Morten, B. (2010). Topics in Guided Motion Control of Marine Vehicles. [Ph.D. Thesis, Tapir Uttrykk].
6. Path following control of autonomous underwater vehicle based upon fuzzy hybrid control
7. Yu, C., Xiang, X., and Dai, J. (2016). 3D path following for under-actuated AUV via nonlinear fuzzy controller. OCEANS, 1–7.10.1109/OCEANSAP.2016.7485727 ↗
8. Wang, Y., Yan, W., Gao, B., and Cui, R. (2009, January 22–25). Backstepping-based path following control of an underactuated autonomous underwater vehicle. Proceedings of the 2009 International Conference on Information and Automation, Zhuhai/Macau, China.10.1109/ICINFA.2009.5204969 ↗
9. Three-dimensional path tracking control for underactuated AUV based on adaptive Backstepping
10. Wei, Z., Liang, Z., Guo, Y., Meng, D., Zhou, J., and Han, Y. (2015, January 19–22). Fuzzy adaptive sliding mode controller for path following of an autonomous underwater vehicle. Proceedings of the OCEANS 2015—MTS/IEEE Washington, Washington, DC, USA.
11. Sliding mode reference conditioning for path following applied to an AUV10.1016/j.ifacol.2016.10.314 ↗
12. Path-following controller for under-actuated AUV of nonlinear iterative sliding mode
13. Shen, C., Shi, Y., and Buckham, B. (2018). Path-Following Control of an AUV: A Multiobjective Model Predictive Control Approach. IEEE Trans. Control Syst. Technol., 1–9.
14. Adaptive fuzzy output feedback stabilization control for the underactuated surface vessel10.1016/j.apor.2018.01.015 ↗
15. A novel adaptive second order sliding mode path following control for a portable AUV10.1016/j.oceaneng.2017.12.054 ↗
16. Pettersen, K., and Nijmeijer, H. (2001). Underactuated ship tracking control: theory and experiments. Int. J. Control, 74.10.1080/00207170110072039 ↗
17. Basic navigation, guidance and control of an Unmanned Surface Vehicle10.1007/s10514-008-9100-0 ↗
18. Fan, Y., Huang, H., and Tan, Y. (2019). Robust Adaptive Path Following Control of an Unmanned Surface Vessel Subject to Input Saturation and Uncertainties. Appl. Sci., 9.10.3390/app9091815 ↗
19. Handbook of Marine Craft Hydrodynamics and Motion Control10.1109/MCS.2015.2495095 ↗
20. MPC-based optimal path following for underactuated vessels10.3182/20090916-3-BR-3001.0065 ↗
21. Line-of-Sight Path Following for Dubins Paths With Adaptive Sideslip Compensation of Drift Forces10.1109/TCST.2014.2338354 ↗
22. Fuzzy-Based Optimal Adaptive Line-of-Sight Path Following for Underactuated Unmanned Surface Vehicle with Uncertainties and Time-Varying Disturbances
23. Guidance and control laws for vehicle pathkeeping along curved trajectories10.1016/0141-1187(92)90033-G ↗
24. Wang, J., Zou, Z., and Wang, T. (2019). High-Gain Extended State Observer Based Adaptive Sliding Mode Path Following Control for An Underactuated Vessel Sailing in Restricted Waters. Appl. Sci., 9.10.3390/app9061102 ↗
25. Borhaug, E., Pavlov, A., and Pettersen, K.Y. (2008, January 9–11). Integral LOS control for path following of underactuated marine surface vessels in the presence of constant ocean currents. Proceedings of the 2008 47th IEEE Conference on Decision and Control, Cancun, Mexico.10.1109/CDC.2008.4739352 ↗
26. Caharija, W., Pettersen, K.Y., Gravdahl, J.T., and Børhaug, E. (2012, January 27–29). Integral LOS guidance for horizontal path following of underactuated autonomous underwater vehicles in the presence of vertical ocean currents. Proceedings of the 2012 American Control Conference (ACC), Montreal, QC, Canada.10.1109/ACC.2012.6315607 ↗
27. Pettersen, K.Y., and Lefeber, E. (2001, January 4–7). Way-point tracking control of ships. Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228), Orlando, FL, USA.
28. Fossen, T., and Pettersen, K. (2014). On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws. Automatica, 50.10.1016/j.automatica.2014.10.018 ↗
29. ESO-Based Line-of-Sight Guidance Law for Path Following of Underactuated Marine Surface Vehicles With Exact Sideslip Compensation10.1109/JOE.2016.2569218 ↗
30. Path following of underactuated marine surface vessels using line-of-sight based model predictive control10.1016/j.oceaneng.2009.10.004 ↗
31. Heading multi-mode control based on soft-switching for autonomous underwater vehicle10.1016/j.oceaneng.2018.06.068 ↗
32. Closed-loop randomized kinodynamic path planning for an autonomous underwater vehicle10.1016/j.apor.2018.12.008 ↗
33. Prestero, T. (2001, January 5–8). Development of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle. Proceedings of the MTS/IEEE Oceans 2001, An Ocean Odyssey, Conference Proceedings (IEEE Cat. No.01CH37295), Honolulu, HI, USA.10.1575/1912/3040 ↗
34. Daryabor, F., Ooi, S., Abu samah, A., and Akbari, A. (2016). Dynamics of the Water Circulations in the Southern South China Sea and Its Seasonal Transports. PLoS ONE, 11.10.1371/journal.pone.0158415 ↗
35. A Time-Varying Lookahead Distance Guidance Law for Path Following10.3182/20120919-3-IT-2046.00068 ↗
36. Junhe, W., Liu, W., Ding, X., He, B., Nian, R., Shen, Y., and Yan, T. (2018, January 22–25). Fractional Order PID Motion control Based on Seeker Optimization Algorithm for AUV. Proceedings of the OCEANS 2018 MTS/IEEE Charleston, Charleston, SC, USA.