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      Accuracy of Trajectory Tracking Based on Nonlinear Guidance Logic for Hydrographic Unmanned Surface Vessels

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          Abstract

          A new trend in recent years for hydrographic measurement in water bodies is the use of unmanned surface vehicles (USVs). In the process of navigation by USVs, it is particularly important to control position precisely on the measuring profile. Precise navigation with respect to the measuring profile avoids registration of redundant data and thus saves time and survey costs. This article addresses the issue of precise navigation of the hydrographic unit on the measuring profile with the use of a nonlinear adaptive autopilot. The results of experiments concerning hydrographic measurements performed in real conditions using an USV are discussed.

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          Most cited references42

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          Identification and Learning Control of Ocean Surface Ship Using Neural Networks

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            Accurate Trajectory Tracking of Disturbed Surface Vehicles: A Finite-Time Control Approach

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              Adaptive Robust Online Constructive Fuzzy Control of a Complex Surface Vehicle System.

              In this paper, a novel adaptive robust online constructive fuzzy control (AR-OCFC) scheme, employing an online constructive fuzzy approximator (OCFA), to deal with tracking surface vehicles with uncertainties and unknown disturbances is proposed. Significant contributions of this paper are as follows: 1) unlike previous self-organizing fuzzy neural networks, the OCFA employs decoupled distance measure to dynamically allocate discriminable and sparse fuzzy sets in each dimension and is able to parsimoniously self-construct high interpretable T-S fuzzy rules; 2) an OCFA-based dominant adaptive controller (DAC) is designed by employing the improved projection-based adaptive laws derived from the Lyapunov synthesis which can guarantee reasonable fuzzy partitions; 3) closed-loop system stability and robustness are ensured by stable cancelation and decoupled adaptive compensation, respectively, thereby contributing to an auxiliary robust controller (ARC); and 4) global asymptotic closed-loop system can be guaranteed by AR-OCFC consisting of DAC and ARC and all signals are bounded. Simulation studies and comprehensive comparisons with state-of-the-arts fixed- and dynamic-structure adaptive control schemes demonstrate superior performance of the AR-OCFC in terms of tracking and approximation accuracy.
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                Author and article information

                Journal
                Sensors (Basel)
                Sensors (Basel)
                sensors
                Sensors (Basel, Switzerland)
                MDPI
                1424-8220
                04 February 2020
                February 2020
                : 20
                : 3
                : 832
                Affiliations
                [1 ]Department of Geodesy, Faculty of Civil and Environmental Engineering, Gdansk University of Technology, Narutowicza 11-12, 80-233 Gdansk, Poland; andrzej.stateczny@ 123456pg.edu.pl
                [2 ]Marine Technology Ltd., Roszczynialskiego 4/6, 81-521 Gdynia, Poland; k.najdecka@ 123456marinetechnology.pl (K.N.); b.domagalska@ 123456marinetechnology.pl (B.D.-S.)
                Author notes
                Author information
                https://orcid.org/0000-0002-4671-6827
                https://orcid.org/0000-0002-2869-5727
                Article
                sensors-20-00832
                10.3390/s20030832
                7038699
                32033155
                eff9b3d5-df50-4ba5-93da-35441f65920e
                © 2020 by the authors.

                Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license ( http://creativecommons.org/licenses/by/4.0/).

                History
                : 06 January 2020
                : 02 February 2020
                Categories
                Article

                Biomedical engineering
                trajectory tracking,unmanned surface vehicle,navigation,bathymetry,hydrographic survey

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