Prof. Yongzheng Li Profile

Prof. Yongzheng Li

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Proceedings Article | 1 December 2023 Paper

Path tracking of unmanned surface vehicle based on improved adaptive sliding mode control algorithm

Mengge Liu, Linghai Kong, Chen Cheng, Yongzheng Li

Proceedings Volume 12940, 129400F (2023) https://doi.org/10.1117/12.3010699

KEYWORDS: Detection and tracking algorithms, Adaptive control, Design and modelling, Autonomous vehicles, Mathematical modeling, Computer simulations, Motion models, Matrices

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Aiming at the path tracking problem of unmanned surface vehicle, a sliding mode control algorithm enhanced with adaptive control technology is proposed. Adaptive control technology is used to predict the boundary value of unknown external environment interference. In order to improve the robustness of the system and the convergence rate of path tracking, the optimization algorithm is designed based on the hyperbolic tangent function control reaching law. A new double power combination function is proposed as the control law to design the sliding mode control algorithm to control the forward and steering of unmanned surface vehicle. The chattering phenomenon caused by sliding mode control is solved effectively and the convergence speed of path tracking is improved. The curve fitting method is utilized to realize the effective tracking of any planned flight path. The simulation results demonstrate that the proposed adaptive sliding mode control algorithm is able to ensure unmanned surface vehicle track the upper reference path accurately under the time-varying disturbance of wind, waves and currents. In additional, the adaptive sliding mode control algorithm embedded an approach control law, called new double power function, is confirmed that has strong robustness and fast convergence rate of path tracking.

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