Vibration reduction LOS guidance method for curve tracking control of underactuated unmanned ship

By iteratively approximating the optimal path parameters, estimating and compensating for drift angle, and employing adaptive sliding mode control, the path tracking problem of underactuated unmanned surface vessels (USVs) in complex marine environments was solved, enabling precise and stable curve-following navigation of the USVs.

CN121680392APending Publication Date: 2026-03-17CHINA SHIP DEV & DESIGN CENT
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Patent Information

Application Number
CN202511874418.X
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2025-12-12
Publication Date
2026-03-17

AI Technical Summary

Technical Problem

Underactuated unmanned surface vessels (USVs) struggle to achieve high-precision path tracking and stable navigation in complex marine environments, and existing guidance methods result in lateral tracking overshoot and oscillation.

Method used

The optimal path parameters are obtained by using an iterative approximation numerical solution method. Combined with drift angle estimation compensation and adaptive vibration reduction LOS algorithm, a nonlinear sliding mode controller is designed to generate control torque to achieve the desired heading tracking control.

Benefits of technology

Under time-varying wind, wave and current interference, it achieves rapid convergence of bow response and precise convergence of lateral tracking, suppresses tracking overshoot and oscillation, and ensures that the unmanned surface vessel maintains precise tracking along the predetermined curved path.

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Abstract

The invention provides a vibration reduction LOS guidance method for curve tracking control of an underactuated unmanned ship, and relates to the field of robustness artificial intelligence. The method comprises the following steps: acquiring an optimal path parameter corresponding to the underactuated unmanned ship based on an iterative approximation numerical solution method; introducing a tracking error item and a tracking error speed item into drift angle estimation compensation; based on the drift angle estimation compensation, designing a self-adaptive vibration reduction LOS algorithm, and obtaining an expected heading angle of the unmanned ship by combining optimal path parameters; designing a sliding mode surface in combination with the expected heading angle, designing a nonlinear sliding mode controller, and generating a control torque; and carrying out expected heading tracking on the underactuated unmanned ship based on the control moment. According to the invention, the problem that accurate path tracking and stable navigation are difficult to realize in the prior art in the case of time-varying environment interference is solved.
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