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Robust bounded compensating control for path-following of USV via the switching L1-VS guidance
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Zhu Sun1, Guoqing Zhang1, 2, *, Jiqiang Li1, Xianku Zhang1, Ao Liu3
Navigation of China | 2026, 49(2) : 95 - 103
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Navigation of China | 2026, 49(2): 95-103
• Intelligent Shipping •
Robust bounded compensating control for path-following of USV via the switching L1-VS guidance
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Zhu Sun1, Guoqing Zhang1, 2, *, Jiqiang Li1, Xianku Zhang1, Ao Liu3
Affiliations
  • 1.Navigation College, Dalian Maritime University, Dalian 116026, China
  • 2.State Key Laboratory of Maritime Technology and Safety, Dalian 116026, China
  • 3.Beiliang Port Marine Department of Dalian Maritime Safety Administration, Dalian 116001, China
Published: 2026-04-25 doi: 10.3969/j.issn.1000-4653.2026.02.011
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For the path-following control problem of the Underactuated Surface Vessel (USV) under the unknown marine disturbances, this note proposes a robust bounded compensating control algorithm based on the switching L1-VS (L1 Virtual Ship) guidance. The control strategy is divided into two modules:guidance and control. For the guidance module, the control difficulty caused by the time varying reference signal is alleviated by the L1-VS guidance technique with switching mechanism. For the control module, a robust bounded compensating technique is considered to approximate the model nonlinear terms, effectively reducing nonlinear approximation error while ensuring the low designed complexity of control law. Besides, the Event-Triggered Control (ETC) technique with dynamic/static mixed threshold is used to handle the problem of communication load and actuator wear. Then, the GUUB (Global Uniform and Ultimately Bounded) stable of the control system is proved based on Lyapunov theorem. Finally, an experiment simulating the narrow-channel crossing mission is conducted, where the robustness and superiority of the algorithm is verified.

autonomous transportation  /  path-following  /  underactuated surface vessel  /  switching L1-VS guidance  /  event-triggered control  /  bounded compensation
Zhu Sun, Guoqing Zhang, Jiqiang Li, Xianku Zhang, Ao Liu. Robust bounded compensating control for path-following of USV via the switching L1-VS guidance[J]. Navigation of China, 2026 , 49 (2) : 95 -103 . DOI: 10.3969/j.issn.1000-4653.2026.02.011
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Year 2026 volume 49 Issue 2
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Article Info
doi: 10.3969/j.issn.1000-4653.2026.02.011
  • Receive Date：2025-03-12
  • Online Date：2026-05-19
  • Published：2026-04-25
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  • Received：2025-03-12
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Affiliations
    1.Navigation College, Dalian Maritime University, Dalian 116026, China
    2.State Key Laboratory of Maritime Technology and Safety, Dalian 116026, China
    3.Beiliang Port Marine Department of Dalian Maritime Safety Administration, Dalian 116001, China
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表12种不同金属材料的力学参数
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Number of
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Number of
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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