BLF-based adaptive path following control for unmanned surface vehicles under shallow water effects

Qiang GUO; Jiaqi WANG; Xianku ZHANG; Daocheng MA

doi:10.19693/j.issn.1673-3185.04240

Journals >Chinese Journal of Ship Research >Volume 20 >Issue 1 >Page 263 > Article

Chinese Journal of Ship Research
Vol. 20, Issue 1, 263 (2025)

BLF-based adaptive path following control for unmanned surface vehicles under shallow water effects

Qiang GUO¹, Jiaqi WANG¹, Xianku ZHANG², and Daocheng MA²

Author Affiliations

¹School of Electrical and Control Engineering, Xi'an University of Science and Technology, Xi'an 710054, China

²Navigation College, Dalian Maritime University, Dalian 116026, China

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DOI: 10.19693/j.issn.1673-3185.04240 Cite this Article

Qiang GUO, Jiaqi WANG, Xianku ZHANG, Daocheng MA. BLF-based adaptive path following control for unmanned surface vehicles under shallow water effects[J]. Chinese Journal of Ship Research, 2025, 20(1): 263 Copy Citation Text

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Fig. 7. Adaptive parameters and 自适应参数和

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参数	数值
垂线间长$L/{\text{m}}$	164.0
平均吃水$d/{\text{m}}$	9.5
设计船速${V_0}/{\text{kn}}$	14.0
船宽$B/{\text{m}}$	32.0
型深$D/{\text{m}}$	15.0
排水体积${\nabla}/\text{m}^3 $	37 853.6
方形系数${C_{\text{b}}}$	0.759

Table 1. Principle parameters of Dazhi unmanned surface vehicle^[24]

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参数	数值	参数	数值
${N_\delta }$	−0.000 836	${Y_\delta }$	0.001 673
${N_r}$	−0.006 736	${N_v}$	0.000 806
${Y_v}$	−0.012 806	${N_{\dot v}}$	−0.006 734
${Y_r}$	−0.021 32	${Y_{\dot v}}$	−0.021 321

Table 2. Dimensionless hydrodynamic parameters of Dazhi unmanned surface vehicle in shallow water

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