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

Abstract：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 Firstly, a guidance method driven by AIS data has been proposed by integrating AIS data with the DVS guidance principle. Secondly, 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, based on the traditional robust control method, an iterative learning control strategy is incorporated to accomplish the final controller design. Finally, the semi-global uniformly ultimately bounded (SGUUB) stable property of the proposed controller is demonstrated by employing the Lyapunov theorem, and the 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 characteristics of high precision and robustness, with an average control accuracy effectively maintained within 0.5 meters. Conclusions The research results are of great