한국항해항만학회:학술대회논문집 (Proceedings of the Korean Institute of Navigation and Port Research Conference)

한국항해항만학회 (Korean Institute of Navigation and Port Research)
권호 표지

Multi-level DVS Guidance and Output-feedback Path-following Control for Marine Surface Vehicles

  • Deng, Ying-Jie (Dalian Maritime University Navigation College) ;
  • Im, Nam-kyun (Mokpo National Maritime University Division of Navigation)
  • 발행 : 2018.11.08
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초록

This paper deals with the path-following control for marine surface vehicles with underactuated characteristics. In consideration of practical limitations of actuators, an improved DVS(dynamic virtual ship) guidance algorithm is proposed with the multi-level DVS optionally selected to be tracked. To address the output-feedback control issue, an adaptive FLS(fuzzy logical systems) is devised to online approximate the kinematic states. Based on that observing framework, the path-following control law is thereafter derived. Simulations testify effectiveness of the proposed scheme

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