Trajectory Tracking and Docking Control Strategy for Unmanned Surface Vehicles in Water-Based Search and Rescue Missions

Trajectory Tracking and Docking Control Strategy for Unmanned Surface Vehicles in Water-Based Search and Rescue Missions

This paper investigates a global fixed-time control strategy for a search and rescue unmanned surface vehicle (SRUSV) targeting water rescue missions. Firstly, an improved time allocation trajectory generation (ITATG) method is proposed to generate a smooth and continuous desired trajectory, incorpo...

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Bibliographic Details
Main Authors: Yiming Bai, Yiqi Wang, Zheng Wang, Kai Zheng
Format: Article
Language:English
Published: MDPI AG 2024-08-01
Series:Journal of Marine Science and Engineering
Subjects:
SRUSV
trajectory tracking
continuous trajectory generation
fixed-time control
FTETSMC
FTSOALOS
Online Access:https://www.mdpi.com/2077-1312/12/9/1462
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Summary:This paper investigates a global fixed-time control strategy for a search and rescue unmanned surface vehicle (SRUSV) targeting water rescue missions. Firstly, an improved time allocation trajectory generation (ITATG) method is proposed to generate a smooth and continuous desired trajectory, incorporating position, velocity, and acceleration information. Secondly, a fixed-time sideslip angle observer-based adaptive line-of-sight (FTSOALOS) guidance law is designed. This law integrates time-varying look-ahead distances with a fixed-time sideslip angle observer (FTSO) to ensure rapid convergence of positional errors within a fixed timeframe. Additionally, this paper employs a first-order fixed-time disturbance observer (FOFTDO) to accurately estimate external disturbances. To alleviate network pressure and reduce actuator failure rates, a fixed-time event-triggered sliding mode control (FTETSMC) mechanism is developed, ensuring the convergence of tracking errors within a fixed timeframe. Finally, using Lyapunov theory, this paper proves that the entire control system designed possesses consistent global fixed-time stability. Comparative simulation experiments validate the effectiveness and superiority of the FTSOALOS guidance law and the FTETSMC controller.
ISSN:2077-1312

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