Review of Course Keeping Control System for Unmanned Surface Vehicle

This paper presents a review of research work done on various aspects of control system approaches of unmanned surface vehicle (USV) in order to improve the course keeping performance. Various methods have been used to produce a course keeping control system for manoeuvring system of USV. However, the review reveals that the adaptive backstepping control system is a powerful tool for the design of controllers for nonlinear systems or transformable to form a tight feedback parameter. It is very suitable for the automated control system of USV in relative motion that involves the disturbances from waves and wind. Fuzzy logic control also had been suggested as an alternative approach for complex systems with uncertain dynamics and those with nonlinearities. This method does not rely on the mathematical models, but the heuristic approach. Further studies may be conducted to combine the control method approach mentioned above to develop a real time system with robust control laws to the motions of a USV in waves, usually at a specific speed, including station keeping or heading in sinusoidal and irregular waves.

[1]  N. Minorsky.,et al.  DIRECTIONAL STABILITY OF AUTOMATICALLY STEERED BODIES , 2009 .

[2]  Jacoby Larson,et al.  Autonomous navigation and obstacle avoidance for unmanned surface vehicles , 2006, SPIE Defense + Commercial Sensing.

[3]  Rogelio Lozano,et al.  Adaptive control of robot manipulators with flexible joints , 1992 .

[4]  Kristin Ytterstad Pettersen,et al.  Underactuated dynamic positioning of a ship-experimental results , 2000, IEEE Trans. Control. Syst. Technol..

[5]  Gaurav S. Sukhatme,et al.  Experiments in robotic boat localization , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[6]  Thor I. Fossen,et al.  Non-linear and adaptive backstepping designs for tracking control of ships , 1998 .

[7]  Xianku Zhang,et al.  Fuzzy-Approximator-Based Adaptive Controller Design for Ship Course-Keeping Steering in Strict-Feedback Forms , 2013 .

[8]  J.E. Manley,et al.  Unmanned surface vehicles, 15 years of development , 2008, OCEANS 2008.

[9]  James Udy,et al.  An autonomous surface vehicle for water quality monitoring , 2009, ICRA 2009.

[10]  Thor I. Fossen,et al.  Nonlinear Thrust Controller for Marine Propellers in Four-Quadrant Operations , 2007, 2007 American Control Conference.

[11]  J. Curcio,et al.  SCOUT - a low cost autonomous surface platform for research in cooperative autonomy , 2005, Proceedings of OCEANS 2005 MTS/IEEE.

[12]  Thor I. Fossen,et al.  Rudder Roll Stabilization of Ships Subject to Input Rate Saturation Using a Gain Scheduled Control Law , 1998 .

[13]  Justin E. Manley.  Development of the autonomous surface craft "ACES" , 1997, Oceans '97. MTS/IEEE Conference Proceedings.

[14]  Marco Bibuli,et al.  Basic navigation, guidance and control of an Unmanned Surface Vehicle , 2008, Auton. Robots.

[15]  Roger Skjetne,et al.  Line-of-sight path following of underactuated marine craft , 2003 .

[16]  Petar V. Kokotovic,et al.  Nonlinear Control of Ships: A Locally Optimal Design , 1998 .

[17]  U. Mackenroth.  Robust Control Systems: Theory and Case Studies , 2010 .

[18]  Kenneth R. Muske,et al.  Sliding-Mode Tracking Control of Surface Vessels , 2008, IEEE Transactions on Industrial Electronics.

[19]  Robert Sutton,et al.  Design of an unmanned surface vehicle for environmental monitoring , 2006 .

[20]  B. C. Nakra,et al.  A Review on Classical and Fuzzy PID Controllers , 2011 .

[21]  Thomas C. Furfaro.  A modular guidance, navigation and control system for unmanned surface vehicles , 2012 .

[22]  M. A. Athans,et al.  The role and use of the stochastic linear-quadratic-Gaussian problem in control system design , 1971 .

[23]  Zhouhua Peng,et al.  Robust adaptive formation control of underactuated autonomous surface vehicles with uncertain dynamics , 2011 .

[24]  Gaurav S. Sukhatme,et al.  Adaptive Sampling for Estimating a Scalar Field using a Robotic Boat and a Sensor Network , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[25]  Thor I. Fossen,et al.  Tutorial on nonlinear backstepping: Applications to ship control , 1999 .

[26]  Zhong-Ping Jiang,et al.  A recursive technique for tracking control of nonholonomic systems in chained form , 1999, IEEE Trans. Autom. Control..

[27]  Jianda Han,et al.  Design and Implement of a Trimaran Unmanned Surface Vehicle System , 2007, 2007 International Conference on Information Acquisition.

[28]  Jianhua Wang,et al.  An Unmanned Surface Vehicle for Multi-mission Applications , 2009, 2009 International Conference on Electronic Computer Technology.

[29]  Jafri Din.  Development of Unmanned Surface Vehicle (USV) for sea patrol and environmental monitoring , 2012 .

[30]  Thor I. Fossen,et al.  Path following control system for a tanker ship model , 2007 .

[31]  Robert Sutton,et al.  An Autopilot Based on a Local Control Network Design for an Unmanned Surface Vehicle , 2012 .

[32]  J. Brzózka.  Design of robust, nonlinear control system of the ship course angle, in a model following control (MFC) structure based on an input-output linearization , 2012 .

[33]  Massimo Caccia,et al.  Sampling sea surfaces with SESAMO: an autonomous craft for the study of sea-air interactions , 2005, IEEE Robotics & Automation Magazine.

[34]  A. Pascoal,et al.  Vehicle and Mission Control of the DELFIM Autonomous Surface Craft , 2006, 2006 14th Mediterranean Conference on Control and Automation.

[35]  Justin E. Manley,et al.  Evolution of the autonomous surface craft AutoCat , 2000, OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158).

[36]  Farbod Fahimi,et al.  Incorporating input saturation for underactuated surface vessel trajectory tracking control , 2012, 2012 American Control Conference (ACC).

[37]  Donald E. Kirk,et al.  Optimal control theory : an introduction , 1970 .

[38]  Kevin M. Passino,et al.  Stable Adaptive Control and Estimation for Nonlinear Systems , 2001 .

[39]  J. Kacprzyk.  Multistage Fuzzy Control: A Model-Based Approach to Fuzzy Control and Decision Making , 1997 .

[40]  J.R. Moisan,et al.  Development of a New Long Duration Solar Powered Autonomous Surface Vehicle , 2006, OCEANS 2006.

[41]  M. Caccia,et al.  Autonomous Surface Craft: prototypes and basic research issues , 2006, 2006 14th Mediterranean Conference on Control and Automation.

[42]  Craig A. Woolsey,et al.  Modeling, Identification, and Control of an Unmanned Surface Vehicle , 2013, J. Field Robotics.

[43]  Roland Schultze,et al.  Operating Experience with a High Precision Track Controller for Commercial Ships , 1995 .

[44]  Piotr Szymak.  Course Control of Unmanned Surface Vehicle , 2013 .

[45]  Lei Wan,et al.  The basic motion control strategy for the water-jet-propelled USV , 2009, 2009 International Conference on Mechatronics and Automation.

[46]  J. Blank,et al.  In-Situ Modeling of a High-Speed Autonomous Surface Vessel , 2008, 2008 40th Southeastern Symposium on System Theory (SSST).

[47]  H. Nijmeijer,et al.  Underactuated ship tracking control: Theory and experiments , 2001 .

[48]  Shr-Shiung Hu,et al.  Robust nonlinear ship course-keeping control under the influence of high wind and large wave disturbances , 2011, 2011 8th Asian Control Conference (ASCC).

[49]  Thor I. Fossen.  A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in a Seaway , 2005, Int. J. Bifurc. Chaos.

[50]  Chiung-Jung Tseng,et al.  Multifunctional Inshore Survey Platform with Unmanned Surface Vehicles , 2011 .

[51]  Karl Johan Åström,et al.  Adaptive Control , 1989, Embedded Digital Control with Microcontrollers.

[52]  Xianku Zhang,et al.  Ship course-keeping adaptive Fuzzy controller design using command filtering with minimal parametrization , 2013, 2013 25th Chinese Control and Decision Conference (CCDC).

[53]  Mingyu Wang.  The development of and experiments on an unmanned surface vehicle platform for water sampling and monitoring , 2012 .

[54]  P.V. Kokotovic,et al.  The joy of feedback: nonlinear and adaptive , 1992, IEEE Control Systems.

[55]  Phil F. Culverhouse,et al.  Integrated navigation and control system for an uninhabited surface vehicle based on interval Kalman filtering and model predictive control , 2013 .

[56]  Yansheng Yang,et al.  Robust adaptive fuzzy control (RAFC) for ship steering with uncertain nonlinear systems , 2004, Fifth World Congress on Intelligent Control and Automation (IEEE Cat. No.04EX788).

[57]  Lei Wan,et al.  Backstepping Dynamical Sliding Mode Control Method for the Path Following of the Underactuated Surface Vessel , 2011 .

[58]  Zhong-Ping Jiang,et al.  Robust adaptive control of underactuated ships on a linear course with comfort , 2003 .

[59]  J. Gomes,et al.  Robotic ocean vehicles for marine science applications: the European ASIMOV project , 2000, OCEANS 2000 MTS/IEEE Conference and Exhibition. Conference Proceedings (Cat. No.00CH37158).

[60]  Stephen P. Banks,et al.  Nonlinear optimal tracking control with application to super-tankers for autopilot design , 2004, Autom..

[61]  Wei Meng,et al.  Nonlinear sliding mode formation control for underactuated surface vessels , 2012, WCICA 2012.

[62]  Tieshan Li,et al.  Robust adaptive backstepping design for course-keeping control of ship with parameter uncertainty and input saturation , 2011, 2011 International Conference of Soft Computing and Pattern Recognition (SoCPaR).

[63]  Job van Amerongen,et al.  Adaptive steering of ships - A model reference approach , 1982, Autom..

[64]  Pratyush Sen,et al.  Alternative Designs of Neural Network Based Autopilots: A Comparative Study , 1997 .

[65]  Thor I. Fossen,et al.  Nonlinear control of ships minimizing the position tracking errors , 1999 .

[66]  Changjiu Zhou,et al.  Model reference adaptive robust fuzzy control for ship steering autopilot with uncertain nonlinear systems , 2003, Appl. Soft Comput..

[67]  Robert Sutton,et al.  The design of a navigation, guidance, and control system for an unmanned surface vehicle for environmental monitoring , 2008 .

[68]  Vadim I. Utkin,et al.  Sliding mode control design principles and applications to electric drives , 1993, IEEE Trans. Ind. Electron..

[69]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[70]  Lei Wan,et al.  Full state-feedback stabilization of an underactuated unmanned surface vehicle , 2010, 2010 2nd International Conference on Advanced Computer Control.

[71]  Sea-Moon Kim,et al.  A model estimation and multi-variable control of an unmanned surface vehicle with two fixed thrusters , 2010, OCEANS'10 IEEE SYDNEY.

[72]  Thor I. Fossen,et al.  Straight-Line Target Tracking for Unmanned Surface Vehicles , 2008 .

[73]  Dan Wang,et al.  Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics , 2013, IEEE Transactions on Control Systems Technology.

[74]  Nassim Khaled,et al.  A self-tuning guidance and control system for marine surface vessels , 2013 .

[75]  Sanjay Sharma,et al.  Non-linear control algorithms for an unmanned surface vehicle , 2014 .

[76]  Thor I. Fossen,et al.  Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping , 1998, IEEE Trans. Control. Syst. Technol..

[77]  Zhen Li,et al.  Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels , 2009, Autom..

[78]  Gaurav S. Sukhatme,et al.  Obstacle detection and avoidance for an Autonomous Surface Vehicle using a profiling sonar , 2011, 2011 IEEE International Conference on Robotics and Automation.