Article(id=1240655136129863996, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655131507740845, articleNumber=null, orderNo=null, doi=10.3969/j.issn.1000-4653.2025.03.020, pmid=null, cstr=null, oa=null, hot=null, price=null, onlineType=0, articleFormat=0, articleType=null, articleTypeStr=null, receivedDate=1709395200000, receivedDateStr=2024-03-03, revisedDate=null, revisedDateStr=null, acceptedDate=null, acceptedDateStr=null, onlineDate=1773724834710, onlineDateStr=2026-03-17, pubDate=1758729600000, pubDateStr=2025-09-25, doiRegisterDate=null, doiRegisterDateStr=null, onlineIssueDate=1773724834710, onlineIssueDateStr=2026-03-17, onlineJustAcceptDate=null, onlineJustAcceptDateStr=null, onlineFirstDate=null, onlineFirstDateStr=null, sourceXml=null, magXml=null, createTime=1773724834710, creator=13701087609, updateTime=1773724834710, updator=13701087609, issue=Issue{id=1240655131507740845, tenantId=1146029695717560320, journalId=1240618002186551303, year='2025', volume='48', issue='3', pageStart='1', pageEnd='184', issueExtLink='null', onlineDate='null', pubDate='null', beforeIssueId=null, nextIssueId=null, price=null, status=1, issueComplete=1, articleOrder=1, issueType=-1, specialIssue=null, createTime=1773724833608, creator=13701087609, updateTime=1773725188865, updator=13701087609, preIssue=null, nextIssue=null, ext={EN=IssueExt(id=1240656621609742880, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655131507740845, language=EN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=), CN=IssueExt(id=1240656621613937185, tenantId=1146029695717560320, journalId=1240618002186551303, issueId=1240655131507740845, language=CN, specialIssueTitle=, coverIllustrator=null, specialIssueEditor=, specialIssueAbout=)}, issueFiles=null}, startPage=166, endPage=175, ext={EN=ArticleExt(id=1240655136373133650, articleId=1240655136129863996, tenantId=1146029695717560320, journalId=1240618002186551303, language=EN, title=Ship path following control based on improved integral line-of-sight guidance law, columnId=1240655021340160960, journalTitle=Navigation of China, columnName=Intelligent Shipping, runingTitle=null, highlight=null, articleAbstract=

Addressing the requirements for ship’s autonomous navigation and high-precision path following control, this paper proposes a fuzzy control method with partitioned integral regions based on the Integral Line-of-Sight (ILOS) guidance law for path following control of autonomous navigation ships. Based on the established ship motion model, an extended Kalman filter is employed to estimate ship states such as speed and heading using GNSS measurement data. Fuzzy controllers are designed to dynamically adjust the look-ahead distance parameter according to different navigation conditions, thereby improving tracking performance. The 700 Twenty-foot Equivalent Unit (TEU) battery-powered container ship built by COSCO Shipping Group is taken as the plant for path following experiments on a simulation platform. Comparative analyses with results from different algorithms show that the proposed control algorithm achieves superior performance and smoother rudder angle manipulation. This method can provide reference for path following control of autonomous navigation ships.

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针对船舶自主航行和船舶航迹高精度控制的需求，在积分视线算法基础上提出一种划分积分区域的模糊控制方法用于自主航行船舶的路径跟踪控制。在建立船舶运动模型的基础上，使用扩展卡尔曼滤波器通过位置信息实现了船舶速度、航向等状态的估计；针对不同航行工况设计模糊控制器对前视距离参数进行动态调整以提高跟踪性能。以中远海运集团建造的700 TEU电池动力集装箱船为控制对象，在仿真平台进行路径跟踪试验，并与不同算法的跟踪结果进行比较。仿真结果表明，所提出的控制算法具有更好的跟踪性能，且对舵角的操控更为平滑，可为自主航行船舶的路径跟踪控制提供参考。

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段载誉（1999—），男，硕士，研究方向为船舶自动控制。E-mail:duanzaiyu1999@outlook.com

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段载誉（1999—），男，硕士，研究方向为船舶自动控制。E-mail:duanzaiyu1999@outlook.com

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