Integrated Trajectory Planning and Tracking Control of Underactuated Surface Vessels

Author(s):  
Farshad Mahini ◽  
Hashem Ashrafiuon

A novel nonlinear trajectory tracking controller for underactuated unmanned surface vessels is presented. A comprehensive planar model of the vessel with two control inputs is considered such that the system is represented by the equations of motion comprised of two double integrators subject to a second-order nonholonomic constraint. Given a target trajectory, a transitional desired trajectory is generated that uniformly satisfies the nonholonomic constraint and actuator saturation constraints. The system error dynamics is then modeled using the equations of motion and the transitional desired trajectory. A finite time sliding mode control law is developed to stabilize the yaw rotation which is robust to model uncertainties and disturbances. Consequently, the resulting reduced-order system is asymptotically stabilized via the surge force. Examples are presented and demonstrate that the approach provides trajectories and tracking control inputs which are suitable for real world applications.

2020 ◽  
Vol 26 (15-16) ◽  
pp. 1286-1296 ◽  
Author(s):  
Karl L Fetzer ◽  
Sergey Nersesov ◽  
Hashem Ashrafiuon

This article presents the development, implementation, and comparison of two trajectory tracking nonlinear controllers for underactuated surface vessels. A control approach capable of stabilizing all the states of any planar vehicle is specifically adapted to surface vessels. The method relies on transformation of the six position and velocity state dynamics into a four-state error dynamics. The backstepping and sliding mode control laws are then derived for stabilization of the error dynamics and proven to stabilize all system states. Simulations are presented in the absence and presence of modeling uncertainties and unknown disturbances. An experimental setup is then described, followed by successful experimental implementation and comparison of the two controllers.


Author(s):  
Bo Wang ◽  
Sergey Nersesov ◽  
Hashem Ashrafiuon

Abstract Developing distributed control algorithms for multi-agent systems is difficult when each agent is modeled as a nonlinear dynamical system. Moreover, the problem becomes far more complex if the agents do not have sufficient number of actuators to track any arbitrary trajectory. In this paper, we present the first fully decentralized approach to formation control for networks of underactuated surface vessels. The vessels are modeled as three degree of freedom planar rigid bodies with two actuators. Algebraic graph theory is used to model the network as a directed graph and employing a leader-follower model. We take advantage of the cascade structure of the combined nonlinear kinematic and dynamic model of surface vessels and develop a reduced-order error dynamic model using a state transformation definition. The error dynamics and consequently all system states are then stabilized using sliding mode control approach. It is shown that the stabilization of the reduced-order error dynamics guarantees uniform global asymptotic stability of the closed-loop system subject to bounded uncertainties. The proposed control method can be implemented in directed time-invariant communication networks without the availability of global position measurements for any of the vehicles participating in the network. An example of a a network of five surface vessels is simulated to verify the effective performance of the proposed control approach.


2021 ◽  
Vol 9 (11) ◽  
pp. 1204
Author(s):  
Yunfei Xiao ◽  
Yuan Feng ◽  
Tao Liu ◽  
Xiuping Yu ◽  
Xianfeng Wang

This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.


Author(s):  
Cheng Liu ◽  
Zaojian Zou ◽  
Jianchuan Yin

Trajectory tracking is an importance practice in ship motion control field. It attracts more attention recently due to its difficulties. Trajectory tracking requires the ship to arrive pinpoint location at exact time. It is a underactuated system because the degrees of freedom of control inputs are fewer than the degrees of freedom that needed to be controlled. In this paper, a hierarchical sliding mode controller and a common sliding mode controller are proposed to deal with the trajectory tracking problem of underactuated surface vessels. Simulation results validate the tracking performance of the proposed controllers. The closed-loop stability is testified by the Lyapunov stability theorem.


2020 ◽  
Vol 103 ◽  
pp. 52-62
Author(s):  
Yingjie Deng ◽  
Xianku Zhang ◽  
Namkyun Im ◽  
Guoqing Zhang ◽  
Qiang Zhang

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