Trajectory planning and tracking control for underactuated unmanned surface vessels

The trajectory planning and tracking control for an underactuated unmanned surface vessel(USV) were addressed.The reference trajectory was generated by a virtual USV,and the error equation of trajectory tracking for underactuated USV was obtained,which transformed the tracking and stabilization problem of underactuated USV into the stabilization problem of the trajectory tracking error equation.A nonlinear state feedback controller was proposed based on backstepping technique and Lyapunov's direct method.By means of Lyapunov analysis,it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property.Numerical simulation results are presented to validate the effectiveness and robustness of the proposed controller.

Global Robust and Adaptive Output Feedback Dynamic Positioning of Surface Ships

A constructive method was presented to design a global robust and adaptive output feedback controller for dynamic positioning of surface ships under environmental disturbances induced by waves, wind, and ocean currents. The ship's parameters were not required to be known. An adaptive observer was first designed to estimate the ship's velocities and parameters. The ship position measurements were also passed through the adaptive observer to reduce high frequency measurement noise from entering the control system. Using these estimate signals, the control was then designed based on Lyapunov's direct method to force the ship's position and orientation to globally asymptotically converge to desired values. Simulation results illustrate the effectiveness of the proposed control system. In conclusion, the paper presented a new method to design an effective control system for dynamic positioning of surface ships.

Radar Cross Section Prediction and Reduction for Naval Ships

Radar cross section（RCS） is the measurement of the reflective strength of a target.Reducing the RCS of a naval ship enables its late detection,which is useful for capitalizing on elements of surprise and initiative.Thus,the RCS of a naval ship has become a very important design factor for achieving surprise,initiative,and survivability.Consequently,accurate RCS determination and RCS reduction are of extreme importance for a naval ship.The purpose of this paper is to provide an understanding of the theoretical background and engineering approach to deal with RCS prediction and reduction for naval ships.The importance of RCS,radar fundamentals,RCS basics,RCS prediction methods,and RCS reduction methods for naval ships is also discussed.

Robust Adaptive Path Following for Underactuated Surface Vessels with Uncertain Dynamics

A robust adaptive control strategy was developed to force an underactuated surface vessel to follow a reference path,despite the presence of uncertain parameters and unstructured uncertainties including exogenous disturbances and measurement noise.The reference path can be a curve or a straight line.The proposed controller was designed by using Lyapunov’s direct method and sliding mode control and backstepping techniques.Because the sway axis of the vessel was not directly actuated,two sliding surfaces were introduced,the first one in terms of the surge motion tracking errors and the second one for the yaw motion tracking errors.The adaptive control law guaranteed the uniform ultimate boundedness of the tracking errors.Numerical simulation results were provided to validate the effectiveness of the proposed controller for path following of underactuated surface vessels.

舰(艇)体的海水腐蚀与防护分析

分析舰(艇)体的海水腐蚀的因素,提出防止海水腐蚀防护的方法。

Numerical simulation of three interior double-layer bulkhead structures

When anti-ship missiles penetrate into the ship armor, fragments and shock waves caused by explosion will severely destroy the personnel and equipment on the ships. In this study, three double-layer bulkheads with different interior sandwich structures were investigated, including X and hexagonal combined sandwich structure, cross-type honeycomb sandwich struc-ture and cell growth type honeycomb sandwich structure. The penetration processes of three different bulkhead structures were simulated by software ANSYS/LS-DYNA. The simulation shows that the double-layer bulkhead with cross-type honeycomb sandwich structure is the most suitable. Finally, the dynamic response characteristics of the cross-type sandwich bulkhead structure are analyzed.

Path Following Control of Underactuated Ships Based on Unscented Kalman Filter

A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined path.The controller is based on analytic model predictive control and unscented Kalman filter(UKF) techniques.The analytic model predictive control provides a systematic method to get appropriate controller parameters to guarantee the stability of the closed-loop system,and the well-defined relative degree is guaranteed by introducing output-redefinition.The UKF is used to estimate the states and uncertain parameters due to time-varying added mass matrices.With help of the proposed UKF-based controller,the underactuated ship with time-varying parameters can follow a desired straight path.Simulation results are presented to demonstrate the effectiveness of the proposed controller.