Robust Composite Nonlinear Feedback Path-Following Control for Underactuated Surface Vessels With Desired-Heading Amendment
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Bibliographic record
Abstract
This paper addresses the transient performance improvement for path-following control of underactuated surface vessels (USVs) in the presence of oceanic disturbances. The traditional practice that chooses the tangent direction of the desired path as the desired heading may deteriorate the tracking performance in the curve following due to the nonzero sideslip angle therein. Also, the disturbances in wave filed greatly affect the transient path-following control. To this end, three contributions are made in this paper: (1) an amendment to the definition of the desired heading using the sideslip-angle compensation is presented to achieve a more accurate path-following maneuver; (2) a novel disturbances observer-based composite nonlinear feedback (DO-CNF) controller is proposed to restrain system overshoots and eliminate steady-state errors while dealing with multiple oceanic disturbances with unknown bounds; and (3) the variation of the yaw-rate reference for path-following objective is handled in the controller design, which can enhance the vessel's robustness to the changing of the path curvature. Comparative simulations verify the reasonability of the desired-heading amendment and the effectiveness of the DO-CNF approach in improving the transient path-following performance of USVs while satisfying actuator saturation considering the unknown disturbances and changing reference.
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Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.001 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.001 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from it