Data-driven ship trajectory tracking control method

序号	参数	数值	序号	参数	数值
1	$ {\boldsymbol{\theta }}_{11} $	0.265 138 669 258 724	13	$ {\boldsymbol{\theta }}_{25} $	0.305 785 017 250 565
2	$ {\boldsymbol{\theta }}_{12} $	−0.593 139 836 433 817	14	$ {\boldsymbol{\theta }}_{26} $	0.817 640 200 880 232
3	$ {\boldsymbol{\theta }}_{13} $	0.055 061 829 481 853	15	$ {\boldsymbol{\theta }}_{31} $	0.061 005 725 705 921
4	$ {\boldsymbol{\theta }}_{14} $	0.193 328 379 010 969	16	$ {\boldsymbol{\theta }}_{32} $	−0.247 108 873 113 790
5	$ {\boldsymbol{\theta }}_{15} $	0.004 535 423 216 801	17	$ {\boldsymbol{\theta }}_{33} $	−0.071 435 501 716 979
6	$ {\boldsymbol{\theta }}_{16} $	0.001 500 027 456 607	18	$ {\boldsymbol{\theta }}_{34} $	−0.067 124 874 659 099
7	$ {\boldsymbol{\theta }}_{17} $	−0.00 001 031 479 303	19	$ {\boldsymbol{\theta }}_{35} $	0.150 310 762 377 552
8	$ {\boldsymbol{\theta }}_{18} $	−2.101 476 849 154 E-09	20	$ {\boldsymbol{\theta }}_{36} $	0.156 863 665 033 070
9	$ {\boldsymbol{\theta }}_{21} $	−0.057 189 322 465 896	21	$ {\boldsymbol{\theta }}_{37} $	−0.000 528 418 571 230
10	$ {\boldsymbol{\theta }}_{22} $	−0.107 906 938 569 009	22	$ {\boldsymbol{\theta }}_{38} $	−0.001 535 487 343 785
11	$ {\boldsymbol{\theta }}_{23} $	−0.021 188 406 958 892	23	$ {\boldsymbol{\theta }}_{39} $	7.379 676 517 343 E-06
12	$ {\boldsymbol{\theta }}_{24} $	−0.343 953 417 948 503	24	$ {\boldsymbol{\theta }}_{30} $	−6.976 693 955 860 E-07

Table 2. Data comparison table of different S

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Table 2. Data comparison table of different S

参数	峰值纵向误差/m	误差平方总和/m²	峰值艏向角/rad	平稳艏向角时间/s	平稳速度时间/s
$ {\boldsymbol{S}}_{0} $	−2.80	591	1.03	67.2	122.7
$ {2\boldsymbol{S}}_{0} $	−2.12	246	1.09	70.9	71.4
$ {3\boldsymbol{S}}_{0} $	−1.78	151	1.13	73.4	52.4
$ 4{\boldsymbol{S}}_{0} $	−1.57	114	1.15	75.7	42.0

Table 3. Data comparison table of different Q

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Table 3. Data comparison table of different Q

参数	峰值纵向误差/m	误差平方总和/m²	峰值艏向角/rad	平稳艏向角时间/s	平稳速度时间/s
$ {\boldsymbol{Q}}_{0} $	−2.80	591	1.032	59.1	122.7
$ {3\boldsymbol{Q}}_{0} $	−2.51	440	1.038	62.8	115.1
$ {6\boldsymbol{Q}}_{0} $	−2.20	305	1.046	65.3	109.2
$ 9{\boldsymbol{Q}}_{0} $	−1.97	224	1.052	67.2	107.1

Table 4. Data comparison table of different R

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Table 4. Data comparison table of different R

参数	峰值纵向误差/m	误差平方总和/m²	峰值艏向角/rad	平稳艏向角时间/s	平稳速度时间/s
$ {\boldsymbol{R}}_{1} $	−1.69	132	1.13	71.6	53.6
$ {\boldsymbol{R}}_{2} $	−2.34	334	1.07	63.8	88.6
$ {\boldsymbol{R}}_{0} $	−2.78	591	1.03	67.2	122.7
$ {\boldsymbol{R}}_{3} $	−3.11	887	1.00	77.3	150.0

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Yong XIONG, Siwen ZHOU, XianFei WANG, Zhiyuan LYU. Data-driven ship trajectory tracking control method[J]. Chinese Journal of Ship Research, 2025, 20(1): 232

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