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Under real wave model unmanned surface vessel trajectory tracking with state and actuator constraints.

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Title: Under real wave model unmanned surface vessel trajectory tracking with state and actuator constraints.
Authors: Mu, Dongdong1 (AUTHOR), He, Xiaomeng1 (AUTHOR) xiaomeng0905@dlmu.edu.cn, Niu, Ben2 (AUTHOR), Li, Hongbiao3 (AUTHOR), Fan, Yunsheng1 (AUTHOR)
Source: Transactions of the Institute of Measurement & Control. Jun2026, Vol. 48 Issue 9, p1897-1910. 14p.
Subjects: Trajectories (Mechanics), Constraint algorithms, Propellers, Propulsion systems, Lyapunov functions, Autonomous vehicles
Abstract: This paper addresses the critical issue of dynamic performance constraints for unmanned surface vessels (USVs) operating under real maritime conditions. First, to accurately characterize the effect of ocean waves on unmanned vessels, a wave disturbance model is established based on actual ocean wave measurements, which provides more accurate representation of maritime environmental disturbances. Subsequently, an optimized barrier Lyapunov function is designed to constrain the position errors that occur during the USV's trajectory tracking process. Furthermore, a state-constrained control strategy that incorporates propeller dynamics is developed, which can effectively mitigate oscillations in control inputs. Finally, numerical simulations using SimuNPS software demonstrate that the proposed control strategy exhibits significant advantages over existing methods. [ABSTRACT FROM AUTHOR]
Copyright of Transactions of the Institute of Measurement & Control is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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DbLabel: Engineering Source
An: 193925949
AccessLevel: 6
PubType: Academic Journal
PubTypeId: academicJournal
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  Data: Under real wave model unmanned surface vessel trajectory tracking with state and actuator constraints.
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  Data: <searchLink fieldCode="AR" term="%22Mu%2C+Dongdong%22">Mu, Dongdong</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22He%2C+Xiaomeng%22">He, Xiaomeng</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> xiaomeng0905@dlmu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Niu%2C+Ben%22">Niu, Ben</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Li%2C+Hongbiao%22">Li, Hongbiao</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Fan%2C+Yunsheng%22">Fan, Yunsheng</searchLink><relatesTo>1</relatesTo> (AUTHOR)
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  Data: <searchLink fieldCode="JN" term="%22Transactions+of+the+Institute+of+Measurement+%26+Control%22">Transactions of the Institute of Measurement & Control</searchLink>. Jun2026, Vol. 48 Issue 9, p1897-1910. 14p.
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  Data: <searchLink fieldCode="DE" term="%22Trajectories+%28Mechanics%29%22">Trajectories (Mechanics)</searchLink><br /><searchLink fieldCode="DE" term="%22Constraint+algorithms%22">Constraint algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22Propellers%22">Propellers</searchLink><br /><searchLink fieldCode="DE" term="%22Propulsion+systems%22">Propulsion systems</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+functions%22">Lyapunov functions</searchLink><br /><searchLink fieldCode="DE" term="%22Autonomous+vehicles%22">Autonomous vehicles</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This paper addresses the critical issue of dynamic performance constraints for unmanned surface vessels (USVs) operating under real maritime conditions. First, to accurately characterize the effect of ocean waves on unmanned vessels, a wave disturbance model is established based on actual ocean wave measurements, which provides more accurate representation of maritime environmental disturbances. Subsequently, an optimized barrier Lyapunov function is designed to constrain the position errors that occur during the USV's trajectory tracking process. Furthermore, a state-constrained control strategy that incorporates propeller dynamics is developed, which can effectively mitigate oscillations in control inputs. Finally, numerical simulations using SimuNPS software demonstrate that the proposed control strategy exhibits significant advantages over existing methods. [ABSTRACT FROM AUTHOR]
– Name: AbstractSuppliedCopyright
  Label:
  Group: Ab
  Data: <i>Copyright of Transactions of the Institute of Measurement & Control is the property of Sage Publications, Ltd. and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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    Identifiers:
      – Type: doi
        Value: 10.1177/01423312251333820
    Languages:
      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 14
        StartPage: 1897
    Subjects:
      – SubjectFull: Trajectories (Mechanics)
        Type: general
      – SubjectFull: Constraint algorithms
        Type: general
      – SubjectFull: Propellers
        Type: general
      – SubjectFull: Propulsion systems
        Type: general
      – SubjectFull: Lyapunov functions
        Type: general
      – SubjectFull: Autonomous vehicles
        Type: general
    Titles:
      – TitleFull: Under real wave model unmanned surface vessel trajectory tracking with state and actuator constraints.
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            NameFull: Mu, Dongdong
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            NameFull: He, Xiaomeng
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            NameFull: Niu, Ben
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            NameFull: Li, Hongbiao
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            NameFull: Fan, Yunsheng
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            – D: 01
              M: 06
              Text: Jun2026
              Type: published
              Y: 2026
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              Value: 48
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              Value: 9
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            – TitleFull: Transactions of the Institute of Measurement & Control
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