An integral-differential LOS algorithm for USV path-tracking control

Guoqing Zhou; Jinchun Lin; Jinhuang Wu; Zhexian Liu; Gongbei Wu; Dawei Zhao; Chao Xu; Haotian Zhang

doi:10.1117/12.2686646

10 August 2023 An integral-differential LOS algorithm for USV path-tracking control

Guoqing Zhou, Jinchun Lin, Jinhuang Wu, Zhexian Liu, Gongbei Wu, Dawei Zhao, Chao Xu, Haotian Zhang

Proceedings Volume 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023); 127591C (2023) https://doi.org/10.1117/12.2686646
Event: 2023 3rd International Conference on Automation Control, Algorithm and Intelligent Bionics (ACAIB 2023), 2023, Xiamen, China

Abstract

The path-tracking method of the unmanned surface vehicle (USV) consists of guidance law and heading control. For solving the problem that the LOS guidance law leads to low path-tracking accuracy, this paper proposes an integraldifferential LOS (IDLOS). The proposed algorithm innovatively introduces the adaptive integral term and the differential term on the LOS. The integration term can improve the convergence speed of the USV. The differential term can reduce the overshoot. Therefore, the USV can quickly approach the desired path and improve the accuracy of path-tracking. To verify the accuracy of the IDLOS algorithm, simulation experiments are conducted in MATLAB in this paper. The results are as follows. The convergence time of the IDLOS algorithm is 1.4s faster than that of LOS. The overshoot of IDLOS is about 13 times lower than that of ILOS (integral LOS). IAE (integral absolute error) of the cross-track error of IDLOS decreased by about 0.89 compared with LOS.

Citation Download Citation

Guoqing Zhou, Jinchun Lin, Jinhuang Wu, Zhexian Liu, Gongbei Wu, Dawei Zhao, Chao Xu, and Haotian Zhang "An integral-differential LOS algorithm for USV path-tracking control", Proc. SPIE 12759, International Conference on Automation Control, Algorithm, and Intelligent Bionics (ACAIB 2023), 127591C (10 August 2023); https://doi.org/10.1117/12.2686646

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