Publicações

Xu, H.T., Rong, H. and Guedes Soares, C. (2019), Use of AIS data for guidance and control of path-following autonomous vessels, Ocean Engineering, Vol. 194, pp. 106635-1 - 106635-19.

This paper carries out research on the prototype of an autonomous that is normally used for passenger transportation. A path generation system is proposed using dynamic time warping algorithm based on Automatic Identification System history data. In order to ensure strong stability properties, a nonlinear controller with globally exponentially stability, is introduced for the heading controller. The least square support vector machine is employed to estimate the parameters of the control model based on full-scale manoeuvring tests. The identified results are validated with analytical values. The kinematics and control object of path-following are presented, and a time-varying vector field guidance law is proposed for the path-following control of autonomous vessels. The guidance and control sub-systems are interconnected and form a cascade structure. The stability of the coupled guidance and control system is carried out using cascaded system theory. The proof ensures that the equilibrium point of the cascaded system is uniformly semiglobally exponentially stable. Path following scenario was considered in the presence of currents based on a nonlinear manoeuvring model. Simulation studies were used to verify the theoretical results.

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