Vessel Path Following Control - Trajectory Tracking for Marine Vehicles

Path following control refers to the process of tracking and controlling a vessel's navigation path. This represents a typical underactuated control problem that requires appropriate control strategies to achieve precise vessel maneuvering and stable operation. Path following control encompasses multiple aspects including vessel path planning, course control, and speed regulation. These control processes must thoroughly consider the vessel's dynamic characteristics and environmental factors to ensure the vessel follows predetermined trajectories accurately. In path following control, trajectory tracking constitutes a crucial task that demands vessels to precisely follow predefined paths while compensating for external disturbances and system errors to maintain trajectory stability and accuracy. Implementation typically involves waypoint navigation algorithms, PID controllers for course adjustment, and speed management systems using proportional control. Key functions may include path interpolation methods, error calculation between actual and reference positions, and adaptive control mechanisms to handle varying sea conditions and vessel dynamics.