Adaptive fuzzy tracking control for underactuated surface vessels with unmodeled dynamics and input saturation

2020 ◽  
Vol 103 ◽  
pp. 52-62
Author(s):  
Yingjie Deng ◽  
Xianku Zhang ◽  
Namkyun Im ◽  
Guoqing Zhang ◽  
Qiang Zhang
Keyword(s):  
Tracking Control ◽  
Input Saturation ◽  
Unmodeled Dynamics ◽  
Adaptive Fuzzy ◽  
Surface Vessels ◽  
Underactuated Surface Vessels

scholarly journals Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation

2020 ◽  
Vol 10 (10) ◽  
pp. 3372
Author(s):  
Guoqing Xia ◽  
Xiaoming Xia ◽  
Bo Zhao ◽  
Chuang Sun ◽  
Xianxin Sun
Keyword(s):  
Collision Avoidance ◽  
Tracking Control ◽  
Input Saturation ◽  
Model Uncertainties ◽  
Environmental Disturbances ◽  
Formation Tracking ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Connectivity Preservation ◽  
The Stability

This paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints, such as collision avoidance, heterogeneous limited communication range and input saturation are also considered. A modified barrier Lyapunov function (BLF) is introduced to achieve the connectivity preservation, the collision avoidance and the distributed formation tracking. Extended state observer (ESO) is employed to estimate total disturbances consisting of environmental disturbances and model uncertainties. Auxiliary variables are introduced to deal with the underactuated problem and input saturation. A distributed controller is developed for each USV. Using the Lyapunov method analyze the stability of the system, it is proven that all signals are bounded and tracking errors converge to a neighborhood of the origin. Simulation results show that the proposed controller is practicable and effective.

Adaptive Fuzzy Tracking Control of Stochastic Mechanical System with Input Saturation

2019 ◽  
Vol 21 (8) ◽  
pp. 2600-2608
Author(s):  
Wen-Xing Yuan ◽  
Wei Sun ◽  
Zhen-Guo Liu ◽  
Feng-Xia Zhang
Keyword(s):  
Mechanical System ◽  
Tracking Control ◽  
Input Saturation ◽  
Adaptive Fuzzy

Event-triggered reset trajectory tracking control for unmanned surface vessel system

2020 ◽  
pp. 095965182095327
Author(s):  
Haoping Wang ◽  
Shuyu Zhang
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Input Saturation ◽  
Lyapunov Stability Theory ◽  
Trajectory Tracking Control ◽  
Nonlinear Disturbance Observer ◽  
Surface Vessels ◽  
Unmanned Surface Vessel ◽  
Reset Control ◽  
Event Triggered

This article considers the trajectory tracking control for unmanned surface vessels with unknown time-variant external disturbances and input saturation. The strategy mainly consists of event-triggered reset sub-controller and nonlinear disturbance observer–based compensation sub-controller. To reduce network transmissions, and in the meanwhile, guarantee the desirable closed-loop behavior, the event-triggered reset control is proposed where the reset law and the event-triggered mechanism are designed separately. Both of static and dynamic event-triggered reset controllers are designed. Their corresponding stability is demonstrated using Lyapunov stability theory. Finally, numerical simulation results are presented to demonstrate the effectiveness and robustness of the proposed trajectory tracking control strategy.

Sign in / Sign up

Export Citation Format

Share Document