Research on Path Tracking Control of Pontoon Unit Based on SFLOS Guidance Algorithm

The motion control of each pontoon unit should be considered in the automatic docking technology of the pontoon bridge. In this paper, a path-tracking controller based on the SFLOS guidance algorithm is studied. Firstly, the dynamic and kinematic models of the pontoon unit are analyzed. Secondly, the guidance algorithm of SFLOS and the controller based on the backstepping method are designed, and the stability is verified by the Lyapunov stability analysis method. Finally, the simulation study verifies that the designed guidance controller can make the driving path of the pontoon unit converge to the expected path.