Way-Point Tracking Control of Underactuated USV Based on GPC Path Planning

  • Tao Jiang
  • Yi Yang
  • Huizi Chen
  • Xu Wang
  • Dan ZhangEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


In order to solve the problems of large tracking error and slow error convergence in the tracking process of underactuated asymmetric unmanned surface vehicles (USV) in sharp turns and other extreme paths, an adaptive sliding mode control method based on generalized predictive control (GPC) algorithm (LOS-GPC-SMC) is proposed. Firstly, the path generation part takes into account the mobility constraints of USV, and realizes path generation by GPC combined with Line-of-Sight (LOS). Secondly, due to the asymmetry of the dynamic model of USV, the global homeomorphic differential transformation is used to transform and decouple the state variables of the system. After that, in order to effectively compensate the model uncertainty and external disturbance in the tracking process of USV, the adaptive sliding mode control method is used to design the actual control law to ensure error stabilization and realize path tracking. Finally, the effectiveness of the proposed control strategy is verified by a large number of simulation experiments.


Underactuated unmanned surface vehicle Way-point tracking Path generation 


  1. 1.
    Oh, S., Sun, J.: Path following of underactuated marine surface vessels using line-of-sight based model predictive control. Ocean Eng. 37(2), 289–295 (2010)CrossRefGoogle Scholar
  2. 2.
    Changxi, L., Yuan, F., Li, Y.: Design of a linear track controller for incomplete driving ships based on back stepping method. Ship Eng. 30(4), 64–67 (2008)Google Scholar
  3. 3.
    Gao, J., Wu, P., Li, T., et al.: Optimization-based model reference adaptive control for dynamic positioning of a fully actuated underwater vehicle. Nonlinear Dyn. 87(4), 1–13 (2016)Google Scholar
  4. 4.
    Peng, Y., Wu, W., Liu, M.: UAV track tracking GPC - PID cascade control. Control Eng. 21(2), 245–248 (2014)Google Scholar
  5. 5.
    Yu, R., Zhu, Q., Xia, G.: Sliding mode tracking control of an underactuated surface vessel. IET Control Theory Appl. 6(3), 461 (2012)MathSciNetCrossRefGoogle Scholar
  6. 6.
    Liu, L., Dan, W., Peng, Z.: Predictor-based line-of-sight guidance law for path following of underactuated marine surface vessels. In: Sixth International Conference on Intelligent Control & Information Processing (2016)Google Scholar
  7. 7.
    McNinch, L.C., Muske, K.R., Ashrafiuon, H.: Model-based predictive control of an unmanned surface vessel. In: Proceedings of the 11th IASTED International Conference on Intelligent Systems and Control, pp. 385–390 (2008)Google Scholar
  8. 8.
    Wang, X., Zou, Z., Li, T.: Adaptive path following controller of underactuated ships using Serret-Frenet frame. J. Shanghai Jiaotong Univ. (Sci.) 15(3), 334–339 (2010)CrossRefGoogle Scholar
  9. 9.
    Qidan, Z., Ruiting, Y., Guihua, X.: Sliding mode robust control for track tracking of underactuated ships with wind wave and current disturbance and parameter uncertainty. Control Theory Appl. 29(7), 959–964 (2012)Google Scholar
  10. 10.
    Zhang, J., Sun, T., Liu, Z.: Robust model predictive control for path-following of underactuated surface vessels with roll constraints. Ocean Eng. 143, 125–132 (2017)CrossRefGoogle Scholar
  11. 11.
    Soltan, R.A., Ashrafiuon, H., Muske, K.R.: State-dependent trajectory planning and tracking control of unmanned surface vessels. In: American Control Conference. IEEE (2009)Google Scholar
  12. 12.
    Bibuli, M., Bruzzone, G., Caccia, M.: Line following guidance control: application to the Charlie USV. In: IEEE/RSJ International Conference on Intelligent Robots & Systems. DBLP (2008)Google Scholar
  13. 13.
    Daly, J.M., Tribou, M.J., Waslander, S.L.: A nonlinear path following controller for an underactuated unmanned surface vessel. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 82–87. IEEE (2012)Google Scholar
  14. 14.
    Xu, D., Liao, Y., Pang, Y.: Backstepping control method for the path following for the underactuated surface vehicles. Procedia Eng. 15(7), 256–263 (2011)Google Scholar
  15. 15.
    Pettersen, K.Y., Lefeber, E.: Way-point tracking control of ships. In: IEEE Conference on Decision & Control (2001)Google Scholar
  16. 16.
    Fossen, T.I.: Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley, Hoboken (2011)CrossRefGoogle Scholar
  17. 17.
    Wei, W.: Generalized Predictive Control Theory and Its Application. Science Press, Beijing (1998)Google Scholar
  18. 18.
    Clarke, D.W., Mohtadi, C., Tuffs, P.S.: Generalized predictive control—Part I. The basic algorithm. Automatica 23(87), 137–148 (1987)CrossRefGoogle Scholar
  19. 19.
    Jian, W., Wang, M., Qiao, L.: Dynamical sliding mode control for the trajectory tracking of underactuated unmanned underwater vehicles. Ocean Eng. 105, 54–63 (2015)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Tao Jiang
    • 1
  • Yi Yang
    • 1
  • Huizi Chen
    • 1
  • Xu Wang
    • 1
  • Dan Zhang
    • 1
    Email author
  1. 1.Shanghai UniversityShanghaiChina

Personalised recommendations