Line-of-sight-based global finite-time stable path following control of unmanned surface vehicles with actuator saturation

2021 ◽  
Author(s):  
Mingcong Li ◽  
Chen Guo ◽  
Haomiao Yu ◽  
Yi Yuan
Keyword(s):  
Finite Time ◽  
Actuator Saturation ◽  
Path Following ◽  
Line Of Sight ◽  
Unmanned Surface Vehicles ◽  
Path Following Control ◽  
Stable Path

scholarly journals Intelligent Path-following Control of Unmanned Surface Vehicles Based on Improved Line-of-sight Guidance

2019 ◽  
Vol 677 ◽  
pp. 042104
Author(s):  
Guangzhi Niu ◽  
Lei Wan ◽  
Jin Zou ◽  
Jiangfeng Zeng ◽  
Jinlong Fan ◽  
...  
Keyword(s):  
Path Following ◽  
Line Of Sight ◽  
Unmanned Surface Vehicles ◽  
Path Following Control

Finite-time output feedback path following control of underactuated MSV based on FTESO

2021 ◽  
Vol 224 ◽  
pp. 108660
Author(s):  
Jun Nie ◽  
Haixia Wang ◽  
Xiao Lu ◽  
Xiaogong Lin ◽  
Chunyang Sheng ◽  
...  
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Path Following ◽  
Feedback Path ◽  
Path Following Control

scholarly journals Finite-Time Path Following Control of an Underactuated Marine Surface Vessel with Input and Output Constraints

2020 ◽  
Vol 10 (18) ◽  
pp. 6447
Author(s):  
Mingyu Fu ◽  
Lulu Wang
Keyword(s):  
Finite Time ◽  
Input Saturation ◽  
Path Following ◽  
Parametric Uncertainties ◽  
External Disturbances ◽  
Time Path ◽  
Path Following Control ◽  
Control Scheme ◽  
Marine Surface ◽  
Surface Vessel

This paper develops a finite-time path following control scheme for an underactuated marine surface vessel (MSV) with external disturbances, model parametric uncertainties, position constraint and input saturation. Initially, based on the time-varying barrier Lyapunov function (BLF), the finite-time line-of-sight (FT-LOS) guidance law is proposed to obtain the desired yaw angle and simultaneously constrain the position error of the underactuated MSV. Furthermore, the finite-time path following constraint controllers are designed to achieve tracking control in finite time. Additionally, considering the model parametric uncertainties and external disturbances, the finite-time disturbance observers are proposed to estimate the compound disturbance. For the sake of avoiding the input saturation and satisfying the requirements of finite-time convergence, the finite-time input saturation compensators were designed. The stability analysis shows that the proposed finite-time path following control scheme can strictly guarantee the constraint requirements of the position, and all error signals of the whole control system can converge into a small neighborhood around zero in finite time. Finally, comparative simulation results show the effectiveness and superiority of the proposed finite-time path following control scheme.

Composite finite-time straight-line path-following control of an underactuated surface vessel

2020 ◽  
Vol 357 (16) ◽  
pp. 11496-11517 ◽  
Author(s):  
Qiankang Hou ◽  
Li Ma ◽  
Shihong Ding ◽  
Xiaofei Yang ◽  
Xiangyong Chen
Keyword(s):  
Finite Time ◽  
Path Following ◽  
Path Following Control ◽  
Straight Line ◽  
Line Path ◽  
Surface Vessel
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