Finite time control for line path following of underactuated surface vessels

2015 ◽  
Author(s):  
Zhang Tianhong ◽  
Zhang Jun ◽  
Liu Zhilin ◽  
Zhao Dean ◽  
Wang Zhanlei
Keyword(s):  
Finite Time ◽  
Path Following ◽  
Time Control ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Line Path

scholarly journals STRAIGHT LINE PATH FOLLOWING FOR FORMATIONS OF UNDERACTUATED SURFACE VESSELS

2007 ◽  
Vol 40 (12) ◽  
pp. 521-526 ◽  
Author(s):  
Alexey Pavlov ◽  
Even Børhaug ◽  
Elena Panteley ◽  
Kristin Y. Pettersen
Keyword(s):  
Path Following ◽  
Surface Vessels ◽  
Straight Line ◽  
Underactuated Surface Vessels ◽  
Line Path

scholarly journals Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

Sensors ◽  
2019 ◽  
Vol 19 (22) ◽  
pp. 4987 ◽  
Author(s):  
Xu ◽  
Zhang ◽  
Cao ◽  
Pang ◽  
Sun
Keyword(s):  
Finite Time ◽  
Autonomous Underwater Vehicle ◽  
Tracking Error ◽  
Three Dimensional ◽  
Path Following ◽  
Lyapunov Stability Theory ◽  
Ocean Currents ◽  
3D Tracking ◽  
Time Control ◽  
Underactuated Auv

The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed based on virtual guidance method. Then, a finite-time control scheme based on super-twisting observer and command filtered backstepping technology is proposed. We adopt super-twisting observer based on finite-time theory to observe the ocean currents disturbances for improving the system robust. A command filtered backstepping is proposed to replace the differential process in the conventional backstepping method for avoiding the differential expansion problem. The filter compensation loop is designed to ensure the accuracy of the filtered signal, and the anti-integration saturation link is designed considering the influence of integral saturation. Lyapunov stability theory is used to prove the stability of the underactuated AUV. Simulation studies are conducted to show the effectiveness and robustness of the controller.

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
Sign in / Sign up

Export Citation Format

Share Document