Robust Composite Nonlinear Feedback Path-Following Control for Independently Actuated Autonomous Vehicles With Differential Steering

2016 ◽  
Vol 2 (3) ◽  
pp. 312-321 ◽  
Author(s):  
Chuan Hu ◽  
Rongrong Wang ◽  
Fengjun Yan ◽  
Hamid Reza Karimi
Keyword(s):  
Autonomous Vehicles ◽  
Path Following ◽  
Nonlinear Feedback ◽  
Composite Nonlinear Feedback ◽  
Feedback Path ◽  
Path Following Control ◽  
Differential Steering

Robust path-following control for a fully actuated marine surface vessel with composite nonlinear feedback

2017 ◽  
Vol 40 (12) ◽  
pp. 3477-3488 ◽  
Author(s):  
Chuan Hu ◽  
Rongrong Wang ◽  
Fengjun Yan ◽  
Mohammed Chadli ◽  
Yanjun Huang ◽  
...  
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Path Following ◽  
Nonlinear Feedback ◽  
External Disturbances ◽  
Composite Nonlinear Feedback ◽  
Finite Time Convergence ◽  
Path Following Control ◽  
Marine Surface ◽  
Surface Vessel

This paper presents a fast and accurate robust path-following control approach for a fully actuated marine surface vessel in the presence of external disturbances. The path following is realized by simultaneously converging the yaw rate and sway velocity to their respective desired values, which are generated according to the path-following demand. An improved combined control strategy using an integral terminal sliding mode (ITSM) based composite nonlinear feedback (CNF) technique considering the external disturbances, time-varying tracking reference, input saturations and transient performance improvement is proposed in this study. The proposed ITSM-CNF combines the advantages of the CNF control in improving the transient performance and of the ITSM control in guaranteeing good robustness and finite-time convergence. A continuous and smooth sliding mode controller, based on an integral nonsingular terminal sliding surface, is added to the CNF controller to eliminate chattering. The overall stability of the closed-loop system is strictly proved based on the Lyapunov method. Simulations verify the effectiveness of the ITSM-CNF controller in improving the transient path-following performance, inhibiting overshoots, eliminating steady-state errors, rejecting external disturbances and removing chattering effects, considering input saturations, varying path curvature and finite-time convergence.

Robust Composite Nonlinear Feedback Control for Path Following of Underactuated Surface Vessels With Desired-Heading Amendment

2016 ◽  
Author(s):  
Chuan Hu ◽  
Rongrong Wang ◽  
Fengjun Yan
Keyword(s):  
Input Saturation ◽  
Path Following ◽  
Transient Performance ◽  
Nonlinear Feedback ◽  
Sideslip Angle ◽  
Traditional Practice ◽  
Composite Nonlinear Feedback ◽  
Surface Vessels ◽  
Path Following Control ◽  
Underactuated Surface Vessels

This paper studies the transient performance improvement problem for path following control of underactuated surface vessels (USVs) in the presence of oceanic disturbances. The traditional practice that chooses the tangent direction of the desired path as the desired heading may deteriorate the tracking performance in the curve-path following. That is because the sideslip angle is not zero in turnings, which unavoidably makes the lateral offset hard to converge to zero. Also, the disturbances in wave filed greatly affect the transient control of the path following errors. To this end, this paper makes two contributions: 1) An amendment on the choice of the desired heading is presented to consider the sideslip angle in turnings and then achieve a more accurate path-following maneuver; 2) A novel robust composite nonlinear feedback (CNF) technique is proposed based on a multiple-disturbances observer to improve the transient performance for path following control in seaway environment considering the input saturation. Comparative simulations verify the reasonability of the amendment on the desired heading direction and the effectiveness of the CNF approach in improving the transient performance for the path following control of USVs.

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

Yaw rate tracking-based path-following control for four-wheel independent driving and four-wheel independent steering autonomous vehicles considering the coordination with dynamics stability

2020 ◽  
Vol 235 (1) ◽  
pp. 260-272
Author(s):  
Yixiao Liang ◽  
Yinong Li ◽  
Ling Zheng ◽  
Yinghong Yu ◽  
Yue Ren
Keyword(s):  
Autonomous Vehicles ◽  
Longitudinal Velocity ◽  
Path Following ◽  
Linear Matrix ◽  
Yaw Rate ◽  
Path Following Control ◽  
Inequality Theory ◽  
Conflicting Objectives ◽  
Upper Level ◽  
Dynamics Stability

The path-following problem for four-wheel independent driving and four-wheel independent steering electric autonomous vehicles is investigated in this paper. Owing to the over-actuated characters of four-wheel independent driving and four-wheel independent steering autonomous vehicles, a novel yaw rate tracking-based path-following controller is proposed. First, according to the kinematic relationships between vehicle and the reference path, the yaw rate generator is designed by linear matrix inequality theory, with the ability to minimize the disturbances caused by vehicle side slip and varying curvature of path. Considering that the path-following objective and dynamics stability are in conflict with each other in some extreme path-following conditions, a coordinating mechanism based on yaw rate prediction is proposed to satisfy the two conflicting objectives. Then, according to the desired yaw rate and longitudinal velocity, a hierarchical structure is introduced for motion control. The upper-level controller calculates the generalized tracking forces while the allocation layer optimally distributes the generalized forces to tires considering tire vertical load and adhesive utilization. Finally, simulation results indicate that the proposed method can achieve excellent path-following performances in different driving conditions, while both path-following objective and dynamics stability can be satisfied.

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