Iterative path following control of underactuated ships based on AIS trajectory reproduction tasks

Objectives A high-precision iterative control strategy based on AIS trajectory reproduction tasks is designed to address the low tracking accuracy, system model uncertainties, and disturbances from time-varying marine environments encountered by underactuated ships.

Methods First, a guidance method driven by AIS data is proposed, integrating AIS data with the DVS guidance principle. Second, robust neural damping technology and dynamic surface control (DSC) are introduced to approximate model uncertainties and complex derivatives of virtual control laws, thus avoiding the issue of “computational explosion”. Furthermore, an iterative learning control strategy is incorporated based on traditional robust control methods to complete the final controller design. Finally, the semi-global uniformly ultimately bounded (SGUUB) stability of the proposed controller is demonstrated using the Lyapunov theorem. A simulation experiment is conducted to validate its performance under time-varying marine environmental disturbances.

Results  The results indicate that the path following of underactuated ships under this control strategy exhibits high precision and robustness, with average control accuracy maintained within 0.5 meters.

Conclusions  The research results are of great significance for safe ship navigation and trajectory reproduction in complex waters.