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Chinese Journal of Ship Research, Volume. 18, Issue 5, 111(2023)

Adaptive cascade tracking control of USV for recovery task

Wenxuan GUO1, Guoyuan TANG1, Fan ZHAO1, Quanbin WANG2, Jianglong SUN1, and Yu QIAO3
Author Affiliations
  • 1School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
  • 2China Ship Development and Design Center, Wuhan 430064, China
  • 3School of Energy and Power Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
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    [5] LIN M Z, ZHANG Z Q, PANG Y D et al. Underactuated USV path following mechanism based on the cascade method[J]. Scientific Reports, 12, 1461(2022).

    [6] XU H T, OLIVEIRA P, SOARES C G. L1 adaptive backstepping control for path-following of underactuated marine surface ships[J]. European Journal of Control, 58, 357-372(2021).

    [7] PARK B S, KWON J W, KIM H. Neural network-based output feedback control for reference tracking of underactuated surface vessels[J]. Automatica, 77, 353-359(2017).

    [8] FARAMIN M, GOUDARZI R H, MALEKI A. Track-keeping observer-based robust adaptive control of an unmanned surface vessel by applying a 4-DOF maneuvering model[J]. Ocean Engineering, 183, 11-23(2019).

    [9] HERRERA L, RODRÍGUEZ-LIÑÁN M C, CLEMENTE E et al. Evolved Extended Kalman Filter for first-order dynamical systems with unknown measurements noise covariance[J]. Applied Soft Computing, 115, 108174(2022).

    [12] BREIVIK M, FOSSEN T I. Applying missile guidance concepts to motion control of marine craft[J]. IFAC Proceedings Volumes, 40, 349-354(2007).

    [13] [13] BREIVIK M, FOSSEN T I. Guidance laws f planar motion control[C]47th IEEE Conference on Decision & Control. Cancun: IEEE, 2008: 570−577.

    [15] SI Y J, SONG S M. Adaptive reaching law based three-dimensional finite-time guidance law against maneuvering targets with input saturation[J]. Aerospace Science and Technology, 70, 198-210(2017).

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    Wenxuan GUO, Guoyuan TANG, Fan ZHAO, Quanbin WANG, Jianglong SUN, Yu QIAO. Adaptive cascade tracking control of USV for recovery task[J]. Chinese Journal of Ship Research, 2023, 18(5): 111

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    Paper Information

    Category: Ship Design and Performance

    Received: Apr. 27, 2022

    Accepted: --

    Published Online: Mar. 21, 2025

    The Author Email:

    DOI:10.19693/j.issn.1673-3185.02882

    Topics

    laser devices and laser physics
    Lasers and Laser Optics
    Laser physics
    laser manufacturing
    Instrumentation, Measurement and Metrology