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On-line Access: 2023-06-20

Received: 2023-04-08

Revision Accepted: 2023-07-08

Crosschecked: 2023-09-20

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Journal of Zhejiang University SCIENCE A 2023 Vol.24 No.9 P.749-761


Finite-time path following control of a sailboat with actuator failure and unknown sideslip angle

Author(s):  Yujin WU, Kangjian SHAO, Ning WANG, Zhongchao DENG

Affiliation(s):  Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, China; more

Corresponding email(s):   n.wang@ieee.org

Key Words:  Sailboat, Sideslip angle, Sideslip angle observer, Finite-time control (FC), Path following

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Yujin WU, Kangjian SHAO, Ning WANG, Zhongchao DENG. Finite-time path following control of a sailboat with actuator failure and unknown sideslip angle[J]. Journal of Zhejiang University Science A, 2023, 24(9): 749-761.

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author="Yujin WU, Kangjian SHAO, Ning WANG, Zhongchao DENG",
journal="Journal of Zhejiang University Science A",
publisher="Zhejiang University Press & Springer",

%0 Journal Article
%T Finite-time path following control of a sailboat with actuator failure and unknown sideslip angle
%A Yujin WU
%A Kangjian SHAO
%A Ning WANG
%A Zhongchao DENG
%J Journal of Zhejiang University SCIENCE A
%V 24
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%@ 1673-565X
%D 2023
%I Zhejiang University Press & Springer
%DOI 10.1631/jzus.A2300184

T1 - Finite-time path following control of a sailboat with actuator failure and unknown sideslip angle
A1 - Yujin WU
A1 - Kangjian SHAO
A1 - Ning WANG
A1 - Zhongchao DENG
J0 - Journal of Zhejiang University Science A
VL - 24
IS - 9
SP - 749
EP - 761
%@ 1673-565X
Y1 - 2023
PB - Zhejiang University Press & Springer
ER -
DOI - 10.1631/jzus.A2300184

Suffering from actuator failure and complex sideslip angle, the motion control of a sailboat becomes challenging. In this paper, an improved double finite-time observer-based line-of-sight guidance and finite-time control (IDFLOS-FC) scheme is presented for path following of sailboats. The salient features of the proposed IDFLOS-FC scheme are as follows: (1) Considering the problem of actuator failure, an actuator failure model is introduced into the dynamics model of a sailboat. (2) The time-varying sideslip angle of the sailboat is accurately observed by the double finite-time sideslip observers (DFSOs), which reduces the error in line-of-sight (LOS) guidance. (3) A radial basis function (RBF) neural network is used to fit the uncertainty of the model, and the upper bound of the sum of fault effects and external disturbances is estimated based on adaptive theory, so that the controller has accurate tracking and interference suppression. (4) According to the Lyapunov method, the system is finite-time stable. Finally, simulation was used to validate the effectiveness of the method.




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