Model-free Path Following Control of Unmanned Surface Vehicle Based on Adaptive Line-of-sight Guidance

Abstract

A path following control scheme based on virtual transition line-of-sight (LOS) guidance law is proposed for model-free unmanned surface vehicle (USV). In the guidance part, an adaptive LOS circle radius based on the transition layer is designed to improve the convergence speed of USV. Aiming at reducing the overshoot of turning, a small angle transition steering strategy is proposed. In the heading and speed control part, the intelligent adaptive S-plane (IAS) heading controller and intelligent adaptive integral S-plane (IAIS) speed controller with strong robustness are designed respectively. In order to improve the following efficiency, a speed solver based on heading deviation and path point distance is designed. The effectiveness of the guidance strategy and the control algorithms of heading and speed proposed in this paper are verified by the comparative simulations.