Integrated Guidance and Control for Path-Following with Bounded Inputs

摘要

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any sufficiently smooth path can be seen as a continuum of virtual targets moving along a specified path, which the pursuer is trying to catch. Contrary to the traditional path-following methods, this work develops an integrated guidance and control approach capable of following any smooth path (unlike the ones composed of a finite number of straight lines and circles). The approach relies on steering the vehicle such that its velocity vector aligns with the line-of-sight (the line joining the moving virtual target and the surface vessel), resulting in a tail-chase scenario. This leads to a path-following behavior. This integrated approach also overcomes the disadvantages inherent in the traditional two-loop-based approaches. Additionally, the proposed work takes into account the asymmetric actuator constraints in the design, which makes the design close to realistic scenarios. Furthermore, the control law has been derived within a nonlinear framework using sliding mode, and thus remains applicable for a wider envelope. The stability of the proposed control strategy is formally proven. Numerical simulations for various specified paths validate the controller's accurate path-following performance.