Article(id=1240655021105271682, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655017040991028, articleNumber=null, orderNo=null, doi=10.3969/j.issn.1000-4653.2025.04.007, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1726675200000, receivedDateStr=2024-09-19, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1773724807287, onlineDateStr=2026-03-17, pubDate=1766592000000, pubDateStr=2025-12-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773724807287, onlineIssueDateStr=2026-03-17, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773724807287, creator=13701087609, updateTime=1773724807287, updator=13701087609, issue=Issue{id=1240655017040991028, tenantId=1146029695717560320, journalId=1240618002186551303, year='2025', volume='48', issue='4', pageStart='1', pageEnd='199', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773724806318, creator=13701087609, updateTime=1773725219619, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1240656750618145316, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655017040991028, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1240656750618145317, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655017040991028, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=59, endPage=69, ext={EN=ArticleExt(id=1240655021327569802, articleId=1240655021105271682, tenantId=1146029695717560320, journalId=1240618002186551303, language=EN, title=Trajectory tracking control of underactuated vessel by combining virtual ship leading and Line-of-Sight methods, columnId=1240655017900823355, journalTitle=Navigation of China, columnName=Marine Traffic Safety, runingTitle=null, highlight=null, articleAbstract=

To support the autonomous navigation of cargo-carrying vessels with specific time and position requirements, research on high-precision trajectory tracking control is necessary. In response to the limited existing studies on cargo vessels and the insufficient consideration of actuator characteristics-where thrust and torque are often treated as directly controllable inputs, leading to limited practical feasibility-a control method combining a virtual vessel leader and an Integral Line-of-Sight (ILOS) approach is proposed. This method uses a propeller speed prediction algorithm to synchronize the real vessel with the virtual vessel and employs speed feedback correction to compensate for disturbances. To improve tracking accuracy, the relative positions are utilized to determine the desired heading through the improved ILOS method, thereby reducing the problem to one of course keeping. Ultimately, vessel trajectory tracking is achieved. Simulation results show that the controlled vessel accomplishes trajectory tracking under disturbance, with a steady-state error of less than ±0.5 m, an error convergence time of less than 50 s, an 86% reduction in rudder jitter, and 71% reduction in propeller speed jitter. The proposed control method is straight forward, demonstrating high performance, can serve as a valuable reference for engineering applications.

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面向载货运输船舶自主航行过程中或对时间与位置控制较为严格的要求，需开展高精度轨迹跟踪控制研究。针对现有研究对货运船舶关注较少，对船舶执行器特性考虑不够充分，将力与力矩视为可控输入直接进行控制律设计，工程可实现性相对较弱的问题，提出一种虚拟船领导法与积分视线法相结合的控制方法。该方法基于桨转速估计算法使实船及时跟随虚拟船的速度，再通过速度反馈校正以补偿干扰。为提高轨迹跟踪精度，利用实船与虚拟船的相对位置关系，通过改进的积分视线法获得期望航向，将问题简化为航向保持，最终实现船舶轨迹跟踪。仿真试验表明:被控船舶在环境干扰中完成轨迹跟踪，稳态误差小于±0.5 m，误差收敛时间小于50 s，舵角抖振降低86%，螺旋桨转速抖振降低71%。所提出的控制方法原理简明，且具有较好的性能，可为商业运输自主船舶的轨迹跟踪工程应用提供方法参考。

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林昀和（2000—），男，硕士生，研究方向为船舶运动控制。E-mail:lin.yunhe@coscoshipping.com

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林昀和（2000—），男，硕士生，研究方向为船舶运动控制。E-mail:lin.yunhe@coscoshipping.com

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