Work

Unmanned Surface Vessel–Unmanned Aerial Vehicle Cooperative Path Following Based on a Predictive Line of Sight Guidance Law

Year: 2024

Type: article

Abstract: This paper explores the cooperative control of unmanned surface vessels (USVs) and unmanned aerial vehicles (UAVs) in maritime rescue and coastal surveillance. The USV-UAV system faces challenges of disturbances and substantial inertia-induced overshooting during path following. A novel position prediction line of sight (LOS) guidance law is proposed to address these issues for USV path following control. Radial basis function-based neural networks (RBF-NNs) are used to estimate disturbances, and a high-order differentiator is used to design a velocity observer for unknown USV velocity. The UAV control system employs proportional–derivative (PD) control with feedforward compensation for quadrotor control design and utilizes a finite-time converging third-order differentiator to differentiate non-continuous functions. The simulation results demonstrate strong robustness in the proposed USV-UAV cooperative control algorithm. It achieves path following control in the presence of wind and wave disturbances and exhibits minimal overshoot.

Source: Journal of Marine Science and Engineering

DOI: 10.3390/jmse12101818

Authors: Hugan Zhang, Jiaming Fan, Xianku Zhang, Haitong Xu, C. Guedes Soares

Institutions: University of Lisbon, Dalian Maritime University, Instituto Superior Técnico

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $2,955

Funder: National Natural Science Foundation of China