| Citation: | FENG Hui, HU Sheng, YU Wenzhao, et al. Finite-time line-of-sight guidance law path following control for underactuated intelligent ships[J]. Journal of Beijing University of Aeronautics and Astronautics, 2022, 48(3): 394-400. doi: 10.13700/j.bh.1001-5965.2020.0561(in Chinese)
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In consideration of the problem that the lateral deviation of the underactuated intelligent ships increases due to the influence of path curvature and environmental disturbance during the path tracking task, the guidance law of intelligent ships is discussed. An adaptive guidance law with finite-time convergence is proposed. Based on the guidance law, the intelligent ships path following control is realized, so that the lateral deviation can converge to zero in finite time in the path following process. Compared with the traditional integral line-of-sight, the control parameters of the method can be adjusted adaptively according to the change of lateral deviation, and the intelligent ships can be guided to follow the desired line or curve path faster. The effectiveness and advancement of the proposed method are verified by simulation and comparison.
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