Journal of Shanghai Jiaotong University ›› 2020, Vol. 54 ›› Issue (9): 890-897.doi: 10.16183/j.cnki.jsjtu.2019.122

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Adaptive NN-SM Control for Path Following of Underactuated Surface Vessels

HE Hongweia, ZOU Zaojiana,b(), ZENG Zhihuaa   

  1. a.School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
    b.State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
  • Received:2019-04-26 Online:2020-09-28 Published:2020-10-10
  • Contact: ZOU Zaojian


A control method combining the neural network (NN) and sliding mode (SM) is proposed for path following of underactuated surface vessels. The line-of-sight (LOS) guidance is used to solve the underactuated problem, and an adaptive state observer of drift angle is designed for counteracting the steady state cross-track error caused by the drift angle. The SM control method is applied to heading control while the NN is included to cope with the uncertainties of control model. The stability of the control system is proved by the Lyapunov theory, and the validity of the proposed controller is verified by comparing the simulation results.

Key words: surface vessel, path following, line-of-sight (LOS) guidance, adaptive observer, neural network (NN), sliding mode (SM) control

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