Unmanned sailing boat path tracking control based on speed selection switching LOS method

Abstract

Objectives Because of the moment of sails and the action of sea waves, sailing boats are more likely to deviate from the desired trajectory than other powerboats, raising the requirement that the tracking control algorithm of unmanned sailing boats has strong anti-interference ability.Methods In this paper, the real ship is modeled in geometric proportion and the greater speeds of sailing boats are obtained under different courses using a VPP speed prediction program. A speed selection-based Line of Sight (LOS) method for unmanned sailing boats is proposed. While guaranteeing the speed of unmanned sailing boats obtained by the wind, the method of switching LOS is used to make the course angle of unmanned sailing boats converge to the desired course angle, enabling the boat to quickly and continuously steer to the desired course point.Results Comparative Matlab simulation analysis shows that the speed selection LOS method has such advantages as small yaw error, strong anti-interference ability and fast convergence speed.Conclusions The feasibility of the speed selection-based LOS method has been verified in lake trials under different wind directions, and the results have certain practical engineering value.

Keywords

• unmanned sailing boat
• speed selection switching line of sight method
• path tracking control