103. Straight-line path following for asymmetric unmanned platform with disturbance estimation

Yu-long Hua1, Xiao-zhou Zheng2, Bao-shan Chi3, Wei Sun4

Department of Mechanical Engineering, Academy of Armored Forces Engineering, Beijing 100072, China

1Corresponding author

E-mail: 1huayulong2010@163.com, 2619440725@qq.com, 3CBS_10072@163.com, 4zhaoyaoshijie@126.com

Received 20 April 2016; received in revised form 19 September 2016; accepted 24 September 2016

DOI https://doi.org/10.21595/jme.2016.17743

Abstract. The problem of straight-line path following for asymmetric unmanned platform exposed to unknown disturbances was addressed in this paper. The mathematical model of asymmetric unmanned platform was established and the inputs in sway and yaw directions were decoupled, which facilitated the establishment of control strategy of path following. The guidance law and the cross-track error were derived from the classical line-of-sight (LOS) guidance principle. And the equilibrium point of the cross-track error was proven to be uniformly semiglobally exponentially stable (USGES), which guaranteed the exponential convergence to zero. A new disturbance estimation law was developed by adding a linear item of the estimation error into the classical one, which improved the principle’s precision and sensitivity dramatically. The control strategy was developed based on the integrator backstepping technique and the new disturbance estimation law, which made the equilibrium system to be uniformly globally asymptotically stable (UGAS). Computer simulations were conducted to verify the effectiveness of the estimation and control laws during straight-line path following for asymmetric unmanned platform in the presence of unknown disturbances.

Keywords: asymmetric unmanned platform, disturbance estimation, integrator backstepping technique, line-of-sight guidance, path following.


[1]        Breivik M., Hovstein V. E., Fossen T. I. Straight-line target tracking for unmanned surface vehicles. International Journal of Modelling, Identification and Control, Vol. 29, Issue 4, 2008, p. 131‑149.

[2]        Liao Yu Lei, Zhang Ming Jun, Dong Zao Peng, et al. Methods of motion control for unmanned surface vehicle: state of the art and perspective. Shipbuilding of China, Vol. 55, Issue 4, 2014, p. 206‑216.

[3]        Liu Chen Guang, Chu Xiu Xin, Wu Qing, et al. A review and prospect of USV research. Ship Building of China, Vol. 55, Issue 4, 2014, p. 194‑205.

[4]        Aguiar A. Pedro, Hespanha Joao P. Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty. IEEE Transactions On Automatic Control, Vol. 52, Issue 8, 2007, p. 1362‑1379.

[5]        Liao Yu Lei, Zhang Ming Jun, Wan Lei Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties. Journal of Central South University, Vol. 22, Issue 1, 2015, p. 214‑223.

[6]        Cheng Liu, Jian Zou Zao, Shan Li Tie Adaptive robust sliding mode control for ship straight‑line tracking in random waves. Journal of Shanghai Jiaotong University (Science), Vol. 18, Issue 5, 2013, p. 549‑553.

[7]        Ghommam J., Mnif F., Derbel N. Global stabilization and tracking control of underactuated surface vessels. IET Control Theory and Applications, Vol. 4, Issue 1, 2010, p. 71‑88.

[8]        Wang Xiao Fei, Zou Zao Jian, Li Tie Shan, et al. Adaptive path following controller of underactuated ships using Serret-Frenet. Journal of Shanghai Jiaotong University (Science), Vol. 15, Issue 3, 2010, p. 334‑339.

[9]        Wang Yao Lu, Guo Chen Path flowing adaptive control for underactuated surface vessels based on RBF neural network. Journal of Dalian Maritime University, Vol. 41, Issue 1, 2015, p. 1‑5.

[10]     Wan Lei, Dong Zao-Peng, Li Yue-Ming, et al. Global asymptotic stabilization control of incomplete symmetry underactuated USV. Journal of Huazhong University of Science and Technology (Natural Science Edition), Vol. 42, Issue 8, 2014, p. 48‑53.

[11]     Zhang Zhong Cai, Wu Yu Qiang Switching-based asymptotic stabilization of underactuated ships with non-diagonal terms in their system matrices. IET Control Theory and Applications, Vol. 9, Issue 6, 2015, p. 972‑980.

[12]     Caharija Walter, Candeloro Mauro, Pettersen Kristin Y., et al. Relative velocity control and integral LOS for path following of underactuated surface vessels. 9th IFAC Conference on Manoeuvring and Control of Marine Craft. Arenzano, Italy: 2012.

[13]     Fossen Thor I., Pettersen Kristin Y., Galeazzi Roberto Line-of-sight path following for Dubins paths with adaptive sideslip compensation of drift forces. IEEE Transactions On Control Systems Technology, Vol. 23, Issue 2, 2015, p. 820‑827.

[14]     Ju Nai Jun Hydrodynamics Analysis and Simulation for Amphibious Vehicle. Weapon Industry Press, Beijing, 2005.

[15]     Hua Yu Long, Chi Bao Shan, Sun Wei, et al. Study on motion model of twin-propeller unmanned amphibious platform. Machinery Design and Manufacture. Vol. 9, 2015, p. 37‑40.

[16]     Breivik M., Fossen Thor I. Guidance-based path following for autonomous underwater vehicles. Proceedings of OCEANS 2005 MTS/IEEE, Washington, D.C., 2005, p. 2807‑2814.

[17]     Wang Hao Duo, Wang Qin Ruo, Wu Xiao Ze Uniformly globally asymptotically stable path following with integral gain-variable guidance law for ships. Control Theory and Applications, Vol. 32, Issue 6, 2015, p. 849‑856.

[18]     Fossen Thor I. Models for Ships, Offshore Structures and Underwater Vehicles. Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley and Sons Ltd., Chichester, UK, 2011.

[19]     El-Sayed A. M. A., Nasr M. E. Existence of uniformly stable solutions of nonautonomous discontinuous dynamical systems. Journal of the Egyptian Mathematical Society, Vol. 19, 2011, p. 91‑94.

[20]     Fossen Thor I., Pettersen Kristin Y. On uniform semiglobal exponential stability (USGES) of proportional line-of-sight guidance laws. Automatica, Vol. 50, Issue 11, 2014, p. 2912‑2917.

Cite this article

Hua Yu‑long, Zheng Xiao‑zhou, Chi Bao‑shan, Sun Wei Straight‑line path following for asymmetric unmanned platform with disturbance estimation. Journal of Measurements in Engineering, Vol. 4, Issue 3, 2016, p. 173‑182.


Journal of Measurements in Engineering. September 2016, Volume 4, Issue 3

© JVE International Ltd. ISSN Print 2335-2124, ISSN Online 2424-4635, Kaunas, Lithuania