A novel path-following control algorithm for surface vessels based on global course constraint and nonlinear feedback technology. (June 2021)

• Record Type: Journal Article
• Authors: Zhao, Baigang; Zhang, Xianku; Liang, Cailei
• Is Part Of: Applied ocean research. Volume 111(2021)
• Publication Date: 2021-06
• Subjects: Surface vessels -- Path following -- Global course constraint -- Closed-loop gain shaping algorithm;Nonlinear feedback technology; Ocean engineering -- Periodicals; 620.416205
• DOI: 10.1016/j.apor.2021.102635
• Languages: English
• ISSNs: 0141-1187

Abstract

Highlights: A novel path-following algorithm based on global course constraint (GCC) is proposed. The preset path is divided into straight segment and waypoint segment, and guidance laws are designed respectively to pay more attention to the change of course and rudder angle, so as to make it more in line with marine practice. The closed-loop gain shaping algorithm and nonlinear feedback technology are used to design controller, which is simple, practical and the energy-saving. A simulation is carried out on the teaching practice ship "Yukun" of Dalian Maritime University to verify the effectiveness and superiority of the proposed path-following algorithm. Abstract: This paper proposes a novel path-following control algorithm for surface vessels based on global course constraint (GCC) for the first time. The path-following control algorithm takes the global course constraint as the goal. Dividing the preset path into two parts, straight and waypoint segment, in which the guidance laws are designed respectively. The guidance laws depend on cross-track error in the straight segment and planned path in the waypoint segment, then the reference courses are obtained. The controller is designed using the closed-loop gain shaping algorithm (CGSA) and the nonlinear feedback technology. The proposed algorithm ensures that the ship can follow the preset path with smoother course change, smaller rudder and roll angle, which is more in line with the marine practice. In addition, this paper uses the teaching practice ship "Yukun" of Dalian Maritime University as a simulation. Through comparative experiments and analysis, the effectiveness and superiority of the proposed path-following algorithm are further verified.