Underactuated Merchant Ship Trajectory Tracking Control with Anti-Interference Capability Based on L1-LOS Guidance and Multi-Parameter PSO-PID Optimization

Abstract

Aiming at the problems of low response efficiency of large heading deviation and low accuracy of trajectory tracking under complex sea state in trajectory tracking control of underactuated merchant ships, this study proposes an improved L1-LOS(LL) algorithm, which introduces the Line-of-Sight (LOS) guidance algorithm in the curved path scenarios with large heading errors on the basis of traditional L1 algorithm to take advantage of its fast response algorithm to correct the large heading errors quickly. And the multi-parameter particle swarm optimization control(PSO-PID) algorithm is designed to combine the centripetal acceleration of underactuated merchant ships navigation with the lateral error to propose a multi-parameter fitness function optimization scheme to improve the dynamic performance of the control system. Through simulation and real ship experiments, it is confirmed that the LL guidance significantly outperforms the traditional L1 method in terms of average lateral error and range under straight line, Z-type and multi-point paths; under wind and wave interference conditions, the stability of the lateral error of the PSO-PID control is also significantly improved by, which verifies the effectiveness of the algorithm in complex environments. This study provides a high-precision and robust solution for the intelligent control of underactuated merchant ships.