Data-driven sideslip observer-based adaptive sliding-mode path-following control of underactuated marine vessels. (1st February 2020)

• Record Type: Journal Article
• Authors: Weng, Yongpeng; Wang, Ning; Guedes Soares, Carlos
• Is Part Of: Ocean engineering. Volume 197(2020)
• Publication Date: 2020-02-01
• Subjects: Data-driven sideslip observer -- Underactuated marine vessels -- Path-following control -- Adaptive sliding-mode control; Ocean engineering -- Periodicals; Ocean engineering; Periodicals; 620.4162
• DOI: 10.1016/j.oceaneng.2019.106910
• Languages: English
• ISSNs: 0029-8018

Abstract

Abstract: A novel data-driven sideslip observer-based adaptive sliding-mode path-follo-wing control (DSO-ASPC) scheme is proposed for underactuated marine vessels in the presence of large and time-varying sideslip. Main contributions are as follows: (1) A data-driven sideslip observer (DSO), by estimating both lumped unknown dynamics induced by sideslip angle and the discretization error, is innovatively proposed, and thereby contributing to high-accuracy estimation of large sideslip angle, which is allowed to be time-varying; (2) A DSO-based line-of-sight (DLOS) guidance law is further devised to guide the heading angle and compensate the sideslip; (3) By virtue of the estimated surge speed and heading guidance, data-driven velocity controllers are designed by sliding-mode technique, in addition that theoretical analysis is provided to guarantee asymptotic stability of the overall path-following closed-loop system. Simulation studies are finally conducted to demonstrate the efficiency and superiority of the proposed DSO-ASPC approach. Highlights: Data-driven sideslip observer-based LOS guidance law is innovatively developed. Data-driven sliding-mode controller is devised to enhance disturbance attenuation. No any model information is required.