Volume 18 Issue 5
Oct.  2023
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Abstract
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GUO W X, TANG G Y, ZHAO F, et al. Adaptive cascade tracking control of USV for recovery task[J]. Chinese Journal of Ship Research, 2023, 18(5): 111–120. DOI: 10.19693/j.issn.1673-3185.02882
Citation: GUO W X, TANG G Y, ZHAO F, et al. Adaptive cascade tracking control of USV for recovery task[J]. Chinese Journal of Ship Research, 2023, 18(5): 111–120. DOI: 10.19693/j.issn.1673-3185.02882
shu

Adaptive cascade tracking control of USV for recovery task

  • 1.

    School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

  • 2.

    China Ship Development and Design Center, Wuhan 430064, China

  • 3.

    School of Energy and Power Engineering, Huazhong University of Science and Technology, Wuhan 430074, China

More Information
  • Received Date: April 26, 2022
  • Revised Date: August 20, 2022
  • Available Online: September 18, 2022
© 2023 The Authors. Published by Editorial Office of Chinese Journal of Ship Research. Creative Commons License
This is an Open Access article distributed under the terms of the Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
    Graphical Abstract
    • Abstract
  •   Objectives  Aiming at the high-precision recovery guidance control requirements of current stern ramp recovery technology, a self-adaptive cascade tracking control method for unmanned surface vessels (USVs) is proposed specifically for stern ramp recovery.
      Methods  Based on the technical requirements of stern ramp recovery, a motion model of an underactuated USV is established, and the generalized Kalman filter (GKF) algorithm is used to predict the navigation state and recovery position of the mother ship. Introducing the idea of constant bearing guidance combined with the sliding mode variable structure control theory, a stable cascade control system is constructed to solve tracking control problems during the recovery process.
      Results  It is proven that the USV can stably track the target, by analyzing the stability of the system through the Lyapunov theory and cascade theorem.
      Conclusions  The simulation results show that the proposed control method gives the USV stable tracking performance and strong robustness against uncertain disturbances.
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    • References (15)
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