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Inverse optimal control for speed-varying path following of marine vessels with actuator dynamics

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Abstract

A controller which is locally optimal near the origin and globally inverse optimal for the nonlinear system is proposed for path following of over actuated marine crafts with actuator dynamics. The motivation is the existence of undesired signals sent to the actuators, which can result in bad behavior in path following. To attenuate the oscillation of the control signal and obtain smooth thrust outputs, the actuator dynamics are added into the ship maneuvering model. Instead of modifying the Line-of-Sight (LOS) guidance law, this proposed controller can easily adjust the vessel speed to minimize the large cross-track error caused by the high vessel speed when it is turning. Numerical simulations demonstrate the validity of this proposed controller.

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Authors and Affiliations

  1. Key Laboratory of High Performance Ship Technology of Ministry of Education, Wuhan University of Technology, Wuhan, 430063, China

    Yang Qu, Haixiang Xu, Wenzhao Yu, Hui Feng & Xin Han

  2. School of Transportation, Wuhan University of Technology, Wuhan, 430063, China

    Yang Qu, Haixiang Xu, Wenzhao Yu, Hui Feng & Xin Han

Authors
  1. Yang Qu
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  2. Haixiang Xu
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  3. Wenzhao Yu
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  4. Hui Feng
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  5. Xin Han
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Corresponding author

Correspondence to Haixiang Xu.

Additional information

Foundation item: Supported by the National Natural Science Foundation of China under Grant Nos. 61301279, 51479158; and the Fundamental Research Funds for the Central Universities under Grant No. WUT: 163102006

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Qu, Y., Xu, H., Yu, W. et al. Inverse optimal control for speed-varying path following of marine vessels with actuator dynamics. J. Marine. Sci. Appl. 16, 225–236 (2017). https://doi.org/10.1007/s11804-017-1410-1

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  • DOI: https://doi.org/10.1007/s11804-017-1410-1

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