Adaptive Finite Time Path-Following Control of Underactuated Surface Vehicle With Collision Avoidance

2019 ◽  
Vol 141 (12) ◽  
Author(s):  
Jawhar Ghommam ◽  
Lamia Iftekhar ◽  
Maarouf Saad
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Path Following ◽  
Control Laws ◽  
Finite Time Stability ◽  
Time Path ◽  
Path Following Control ◽  
Unknown Disturbances ◽  
Local Path ◽  
Surface Vessel

Abstract This paper considers the finite time path-following control problem for an underactuated surface vessel subject to parametric uncertainties, unknown disturbances, and involving input-control saturation. A finite time command filtered backstepping approach is adopted as the main control framework along with the first-order sliding mode differentiator introduced to compute the derivatives of virtual control laws, and the analytical computational burden in the backstepping control is reduced for the design of the control for the underactuated surface vessel. A rigorous proof of the finite time stability of the closed-loop system is derived by utilizing the Lyapunov method. Furthermore, in order to avoid obstacles, a local path replanning technique is designed based on a repulsive potential function that acts directly on the original desired path. The effectiveness of the proposed strategy is validated through numerical simulations.

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.

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.

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

Virtual guidance-based finite-time path-following control of underactuated autonomous airship with error constraints and uncertainties

2020 ◽  
pp. 095441002096931
Author(s):  
Yan Wei ◽  
Pingfang Zhou ◽  
Yueying Wang ◽  
Dengping Duan ◽  
Zheng Chen
Keyword(s):  
Finite Time ◽  
Degrees Of Freedom ◽  
Three Dimensional ◽  
Small Neighborhood ◽  
Path Following ◽  
Coordinate Frame ◽  
Control Approach ◽  
Finite Time Stability ◽  
Path Following Control ◽  
Following Error

This paper addresses the finite-time three-dimensional path-following control problem for underactuated autonomous airship with error constraints and uncertainties. First, a five degrees-of-freedom path-following error model in the Serret-Frenet coordinate frame is established. By applying the finite-time stability theory, a virtual guidance-based finite-time adaptive neural backstepping path-following control approach is proposed. Barrier Lyapunov functions (BLFs) are introduced to deal with attitude error constraints. Neural networks (NNs) are presented to compensate for the uncertainties. To prevent the “explosion of complexity” in the design of the backstepping method, a finite-time convergent differentiator (FTCD) is introduced to estimate the time derivatives of virtual control signals. Stability analysis showed that all closed-loop signals are uniformly ultimately bounded, the constrained requirements on the airship attitude errors are never violated, and the path-following errors converge to a small neighborhood of the origin in a finite time. At last, simulation studies are provided to demonstrate the effectiveness of the proposed control approach.

scholarly journals Nonlinear Adaptive Line-of-Sight Path Following Control of Unmanned Aerial Vehicles considering Sideslip Amendment and System Constraints

2020 ◽  
Vol 2020 ◽  
pp. 1-11
Author(s):  
Zhengyang Cui ◽  
Yong Wang
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Finite Time ◽  
Control Strategies ◽  
Path Following ◽  
Fixed Time ◽  
Control Laws ◽  
Aerial Vehicles ◽  
Path Following Control ◽  
Heading Control ◽  
Cross Track

With growing worldwide interests in commercial, scientific, and military issues, there has been a corresponding rapid growth in demand for the development of unmanned aerial vehicles (UAVs) with more reliable and safer motion control abilities. This paper presents a new nonlinear path following scheme integrated with a heading control law for achieving accurate and reliable path following performance. Both backstepping and finite-time techniques are employed for developing the path following and heading control strategies capable of minimizing cross-track errors in finite-time with elegant transient performance, while the barrier Lyapunov function scheme is adopted to limit turning rates of the UAV for preventing it from capsizing which may be induced by overquick steering actions. A fixed-time nonlinear estimator, based on UAV kinematics, is designed for estimating the uncertainties with sideslip angles caused by external disturbances and inertial motions. To avoid the complicated calculation of derivatives of virtual control terms in backstepping, command filters and auxiliary systems are likewise introduced in the design of control laws. Extensive numerical simulation studies on a nonlinear UAV model are conducted to demonstrate the effectiveness of the proposed methodologies.

scholarly journals Adaptive Integral Sliding Mode based Path Following Control of Unmanned Surface Vehicle

2021 ◽  
Author(s):  
José Antonio González-Prieto ◽  
Carlos Pérez-Collazo ◽  
Yogang Singh
Keyword(s):  
Simulation Study ◽  
Sliding Mode ◽  
Path Following ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Yaw Rate ◽  
Path Following Control ◽  
Different Types ◽  
Unknown Disturbances ◽  
System Uncertainties

This paper investigates the path following control problem for a unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.

scholarly journals Robust Adaptive Path Following Control of an Unmanned Surface Vessel Subject to Input Saturation and Uncertainties

2019 ◽  
Vol 9 (9) ◽  
pp. 1815 ◽  
Author(s):  
Yunsheng Fan ◽  
Hongyun Huang ◽  
Yuanyuan Tan
Keyword(s):  
Adaptive Control ◽  
Finite Time ◽  
Input Saturation ◽  
Path Following ◽  
Robust Adaptive Control ◽  
Time Varying ◽  
Path Following Control ◽  
Unmanned Surface Vessel ◽  
Robust Adaptive ◽  
Surface Vessel

This paper investigates the path following control problem of an unmanned surface vessel (USV) subject to input saturation and uncertainties including model parameters uncertainties and unknown time-varying external disturbances. A nonlinear robust adaptive control scheme is proposed to address the issue, more specifically, steering a USV to follow the desired path at a certain velocity assignment despite the involved disturbances, by utilizing the finite-time currents observer based line-of-sight (LOS) guidance and radial basis function neural networks (RBFNN). Backstepping and Lyapunov’s direct method are the main design frameworks. Based on the finite-time currents observer and adaptive control technique, an improved LOS guidance law is proposed to obtain the desired approaching angle to the desired path, making compensations for the effects of unknown time-varying ocean currents. Then, a kinetic controller with the capability of uncertainties estimation and disturbances rejection is proposed based on the RBFNNs, where the adaptive laws including leakage terms estimate the approximation error and the unknown time-varying disturbances. Subsequently, sophisticated auxiliary control systems are employed to handle input saturation constraints of actuators. All error signals of the closed-loop system are proved to be locally uniformly ultimately bounded (UUB). Numerical simulations demonstrated the effectiveness and robustness of the proposed path following control method.

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