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Publications
Zhang, H.G., Fan, JM., Zhang, XK., Xu, H.T. and Guedes Soares, C. (2024), Path following control of underactuated unmanned surface vessel using virtual circle guidance method, Advances in Maritime Technology and Engineering, Guedes Soares, C. & Santos T.A. (Eds.), Taylor and Francis, London, UK, pp. 393-399.
Underactuated unmanned surface vessels face challenges related to external environmental disturbances, uncertainties in the internal model, and the occurrence of overshooting during waypoint navigation. In order to address the aforementioned issues, this paper proposes a path-following control strategy based on a virtual circle guidance method. Firstly, by constructing a virtual heading, the following of waypoints are transformed into the control of the virtual heading. A sliding mode controller is employed to control the heading of the underactuated unmanned surface vessel. To reduce overshooting during the following of waypoints, a variable virtual circle is constructed based on the angle between the connecting lines of waypoints. A linear extended state observer is designed to estimate external disturbances and unmodeled dynamics, and the estimated disturbances are compensated in the controller design to enhance the robustness of the system. Finally, the effectiveness of the proposed algorithm is validated using simulation tests.
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