Nonlinear extended state observer for path following control of underactuated marine surface vessel

2015 ◽  
Author(s):  
Mingyu Fu ◽  
Lingling Yu ◽  
Mingyang Li ◽  
Yujie Xu ◽  
Yuanhui Wang
Keyword(s):  
Path Following ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Path Following Control ◽  
Marine Surface ◽  
Nonlinear Extended State Observer ◽  
Surface Vessel

Extended state Kalman filter-based path following control of underactuated autonomous vessels

2021 ◽  
pp. 014233122199441
Author(s):  
Yi Zhang ◽  
Wenchao Xue ◽  
Li Sun ◽  
Jiong Shen
Keyword(s):  
Kalman Filter ◽  
Path Following ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Model Predictive Controller ◽  
Point Tracking ◽  
Path Following Control ◽  
Comparison Results ◽  
Predictive Controller

Path following control of underactuated autonomous vessels remains a challenging issue in recent years due to its inherent underactuation and nonlinearities as well as the widely existing disturbances in the marine environment. In order to accommodate all the difficulties simultaneously, a novel extended state Kalman filter, which adopts the idea of extended state observer in estimating and compensating system lumped disturbance and optimizes the filter gain in a real-time fashion using Kalman filter technique, is constructed to estimate system states and disturbances in the presence of model uncertainties and measurement noise. Based on the estimated states and disturbances, an enhanced model predictive controller is proposed to steer the underactuated autonomous vessels along a predefined path at a desired speed after considering system state and input constraints. Simulation results have proved the superiority of extended state Kalman filter over traditional extended state observer and extended Kalman filter under various disturbance and noise scenarios. Moreover, the comparison results with conventional proportion-integration-differentiation controller have demonstrated the feasibility and efficacy of the proposed extended state Kalman filter-based model predictive controller in both set-point tracking and disturbance rejection.

scholarly journals Control of Unmanned Surface Vehicle Along the Desired Trajectory Using Improved Line of Sight and Estimated Sideslip Angle

2021 ◽  
Vol 28 (2) ◽  
pp. 18-26
Author(s):  
Ligang Li ◽  
Zhiyuan Pei ◽  
Jiucai Jin ◽  
Yongshou Dai
Keyword(s):  
Path Following ◽  
State Observer ◽  
Extended State Observer ◽  
Line Of Sight ◽  
Extended State ◽  
Sideslip Angle ◽  
Unmanned Surface Vehicle ◽  
Curve Path ◽  
Guidance Law ◽  
Path Following Control

Abstract In order to improve the accuracy and robustness of path following control for an Unmanned Surface Vehicle (USV) suffering from unknown and complex disturbances, a variable speed curve path following a control method based on an extended state observer was proposed. Firstly, the effect of the environmental disturbances on the USV is equivalent to an unknown and time-varying sideslip angle, and the sideslip angle is estimated by using the extended state observer (ESO) and compensated in the Line of Sight (LOS) guidance law. Secondly, based on the traditional LOS guidance law, the design of the surge velocity guidance law is added to enable the USV to self-adjust the surge velocity according to the curvature of the curve path, thus further improving the tracking accuracy. Finally, the heading and speed controller of the USV is designed by using a sliding mode control to track the desired heading and speed accurately, and then the path following control of the USV’s curve path is realised. Simulation results verify the effectiveness of the proposed method.

scholarly journals High-Gain Extended State Observer Based Adaptive Sliding Mode Path Following Control for An Underactuated Vessel Sailing in Restricted Waters

2019 ◽  
Vol 9 (6) ◽  
pp. 1102 ◽  
Author(s):  
Jianqin Wang ◽  
Zaojian Zou ◽  
Tao Wang
Keyword(s):  
Sliding Mode ◽  
Path Following ◽  
High Gain ◽  
State Observer ◽  
Extended State Observer ◽  
Model Parameters ◽  
Extended State ◽  
External Disturbances ◽  
Adaptive Sliding Mode ◽  
Path Following Control

This paper studied the path following problem for an underactuated vessel sailing in restricted waters with varying water depths. A novel high-gain extended state observer based adaptive sliding mode path following control scheme was proposed. The high-gain extended state observer based line-of-sight guidance law was designed according to vessel kinematics in the horizontal plane, which achieved accurate guidance in spite of time-varying sideslip angles. In the guidance system, a guidance angle was calculated to serve as a reference input for the yaw tracking control system. The sliding mode yaw tracking control system was designed, which can deal with model uncertainties and external disturbances. Since it is hard to obtain the exact model parameters in advance, an adaptive technique was adopted to estimate the unknown parameters, and an adaptive sliding mode control was designed to make the yaw tracking errors globally and asymptotically converge to zero in spite of unknown model parameters, model uncertainties, and external disturbances. Furthermore, the global uniformly asymptotically stability of the closed-loop system was proven based on the cascade system theory. Lastly, simulation experiments were conducted to validate the analysis results and to demonstrate the superiority of the proposed scheme.

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.

Sign in / Sign up

Export Citation Format

Share Document