Planar Path Following Control for Wave Glider and Experimental Study

Abstract

Qi, Z.; Wang, B.; Qin, Y.; Shi, J., and Zhai, J., 2020. Planar path following control for wave glider and experimental study. In: Zheng, C.W.; Wang, Q.; Zhan, C., and Yang, S.B. (eds.), Air-Sea Interaction and Coastal Environments of the Maritime and Polar Silk Roads. Journal of Coastal Research, Special Issue No. 99, pp. 16-20. Coconut Creek (Florida), ISSN 0749-0208.This paper addresses a path following problem of Wave Glider along a predefined path in horizontal plane. The path following controller designing is challenging since Wave Glider is weak maneuvering, underactuated, inaccuracy mathematical model and large environmental disturbances. First, a planar curve path tracking error model is established in the Serret-Frenet coordinate frame. Based on the LOS guidance law and the virtual target method, a planar guidance controller for underactuated Wave Glider is presented to ensure the stability of the path following. And then, according to the classic feedback linearization PID controller and fuzzy controller, a fuzzy adaptive PID controller is developed. Fuzzy controller is used to achieve PID controller parameters online adaptive adjust, in order to improve the robustness of the control system under the influence of environmental disturbances and inaccuracy modeling parameters. Furthermore, analyzing the typical application scenarios of Wave Glider, we set two simulation path in horizontal plane named polyline path and circular path. Numerical simulation results illustrate the proposed control design is effective to deal with planar following problem of Wave Glider. Two sea trails show that the controller can achieve the path following task, however, the speed of Wave Glider is directly related to the accuracy of the path following.