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IEEE/CAA Journal of Automatica Sinica

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Y. Wu, Y. Y. Wang, Z. G. Feng, and X. P. Xie, “Path following control of uncertain and underactuated autonomous surface vessels,” IEEE/CAA J. Autom. Sinica, 2025. doi: 10.1109/JAS.2024.124713
Citation: Y. Wu, Y. Y. Wang, Z. G. Feng, and X. P. Xie, “Path following control of uncertain and underactuated autonomous surface vessels,” IEEE/CAA J. Autom. Sinica, 2025. doi: 10.1109/JAS.2024.124713

Path Following Control of Uncertain and Underactuated Autonomous Surface Vessels

doi: 10.1109/JAS.2024.124713
Funds:  This work was supported by the National Natural Science Foundation of China under Grant 62122046, the Fundamental Research Funds for the Provincial Universities under Grant 3072024GH0404, and the Key Research and Development Projects in Hainan Province ZDYF2024GXJS009
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  • This paper studies two critical issues in the path following of underactuated autonomous surface vessels (ASVs): 1) most existing vector field (VF) guidances only apply to straight lines or circular paths, limiting their practical applications when dealing with curves; and 2) while most existing barrier function-based sliding mode controllers (BFBSMCs) maintain strong robustness and reduce control conservatism, they often suffer from the issue of excessive initial control force/moment magnitudes. Thus, this paper proposes a novel VF guidance law and integrates a time based generator into the design of BFBSMC to tackle the problems above, significantly advancing the practical application of path following of ASVs in engineering contexts. Simulations verifies the theoretical findings above.

     

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