Path-Following Method for Curved Channels Under Non-Uniform Flow Disturbances

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  • a. School of Navigation;b. Hubei Key Laboratory of Inland Shipping Technology, Wuhan University of Technology, Wuhan 430063, China

Online published: 2025-11-14

Abstract

To improve path-following accuracy in curved channel with time-varying non-uniform flow disturbances, this paper proposes a path-following method based on a curvature-adaptive line of sight (LOS) guidance law and composite control. A three-degree-of-freedom ship maneuvering model is established considering the non-uniform flow field. A sliding-window weighted filtering algorithm is employed for the online identification of channel curvature, which informs a curvature-speed coupled adaptive LOS strategy. This strategy dynamically adjusts the look-ahead distance, effectively suppressing tracking overshoot in high-curvature segments. To address time-varying disturbances, an extended state observer (ESO) is introduced to collectively estimate and provide feedforward compensation for disturbances such as wind and current. This is combined with a fuzzy self-tuning proportional-integral-derivative(PID)controller that optimizes parameters in real-time, thereby enhancing the system's robustness against complex disturbances. Simulation results demonstrate that under the tested curved channel conditions, the proposed method achieves a track error of less than 1.2 times the ship's breadth and a root mean square error of heading error below 1.7°, while consistently maintaining a safe distance of over 2.3 times the ship's breadth from the channel boundaries.

Cite this article

HE Yixionga, b, XUE Haidonga, LIU Xiaoa, XU Kexina, ZHANG Kuna, ZHAO Xingyaa .

Path-Following Method for Curved Channels Under Non-Uniform Flow Disturbances

[J]. Journal of Shanghai Jiaotong University, 0 : 1 . DOI: 10.16183/j.cnki.jsjtu.2025.180

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