Path following for podded propulsion unmanned surface vehicle: Theory, simulation and experiment

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Abstract

This paper addresses three interrelated problems concerning the path following of a podded propulsion unmanned surface vessel (USV), namely, the modeling of podded propulsion USV, the model parameter identification and the guidance law design. Based on hypotheses and simplification, three degree of freedom (DOF) manipulating mathematical model group (MMG) models of podded propulsion USV are reduced to the response model, and then, a series of field experiments (turning experiment and zig‐zag experiment) is carried out to collect corresponding data. On this basis, the parameters of the model are obtained through the method of system identification. Meanwhile, the simulation data are compared with the actual data to verify the accuracy of the identification results. The conventional line‐of‐sight guidance is modified by adaptive sideslip angle and a time‐varying lookahead distance, where the lookahead distance is adjusted by fuzzy algorithm. Lyapunov function is used to prove that all error signals in the system are uniformly ultimately bounded. Three numerical examples and the real ship field experiment have been described to illustrate the performance and effectiveness of the proposed scheme. © 2018 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.

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