scholarly journals Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

2017 ◽  
Vol 24 (1) ◽  
pp. 3-11 ◽  
Author(s):  
Tao Liu ◽  
Zaopeng Dong ◽  
Hongwang Du ◽  
Lifei Song ◽  
Yunsheng Mao
Keyword(s):  
Lyapunov Stability ◽  
Tangential Velocity ◽  
Path Following ◽  
Lyapunov Stability Theory ◽  
Line Of Sight ◽  
Coordinate Frame ◽  
Control Law ◽  
Path Following Control ◽  
Guidance Algorithm ◽  
Following Error

Abstract The path following control problem of the underactuated unmanned surface vessel (USV) is studied in this paper. An improved line-of-sight (LOS) guidance algorithm is proposed which can adjust adaptively based on the path following error. The global asymptotically stable path following controller is designed based on the nonlinear backstepping method and the Lyapunov stability theory. Firstly, the USV path following error model is established in the Serret-Frenet (SF) coordinate frame. The path following error in the inertial coordinate frame is transformed into the SF coordinate frame, which is used to define the path following control problem. Secondly, inspired by the traditional LOS guidance algorithm, the longitudinal path following error in the SF coordinate frame is introduced into the improved LOS guidance algorithm. This allows the algorithm to adjust adaptively to the desired path. Thirdly, in order to solve the underactuated problem of the USV path following control system, the tangential velocity of the desired path is designed as a virtual input. The underactuated problem is converted to a virtual fully actuated problem by designing the virtual control law for the tangential velocity. Finally, by combining backstepping design principles and the Lyapunov stability theory, the longitudinal thrust control law and the yaw torque control law are designed for the underactuated USV. Meanwhile, the global asymptotic stability of the path following error is proved. Simulation experiments demonstrate the effectiveness and reliability of the improved LOS guidance algorithm and the path following controller.

Non-Linear Path-Following Control of Micro-AUV

2014 ◽  
Vol 1006-1007 ◽  
pp. 599-603
Author(s):  
Xing Ji ◽  
Lei Zhang ◽  
Jian Cao ◽  
Shan Ma
Keyword(s):  
Control Method ◽  
Path Following ◽  
Lyapunov Stability Theory ◽  
Linear Feedback ◽  
Control Law ◽  
Linear Feedback Control ◽  
Path Following Control ◽  
Virtual Target ◽  
Non Linear ◽  
Following Error

A novel path-following control method of under-actuated AUV is proposed in this paper. Under the Serret-Frenet coordinate system, dynamics equations of path-following error were established based on virtual target AUV. And then combined with dynamics equations of AUV, controller was designed based on Lyapunov stability theory and backstepping technique. Simulation results showed that path-following error could converge to zero rapidly by using the proposed non-linear feedback control law, to make the AUV navigate along the referenced path.

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.

PARAMETER IDENTIFICATION AND ADAPTIVE SYNCHRONIZATION OF UNCERTAIN HYPERCHAOTIC CHEN SYSTEM

2008 ◽  
Vol 22 (08) ◽  
pp. 1015-1023 ◽  
Author(s):  
XINGYUAN WANG ◽  
XIANGJUN WU
Keyword(s):  
Adaptive Control ◽  
Parameter Identification ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Lyapunov Stability Theory ◽  
Adaptive Synchronization ◽  
Control Law ◽  
Uncertain Parameters ◽  
Chen System ◽  
Adaptive Control Law

This paper studies the adaptive synchronization and parameter identification of an uncertain hyperchaotic Chen system. Based on the Lyapunov stability theory, an adaptive control law is derived to make the states of two identical hyperchaotic Chen systems asymptotically synchronized. With this approach, the synchronization and parameter identification of the hyperchaotic Chen system with five uncertain parameters can be achieved simultaneously. Theoretical proof and numerical simulations demonstrate the effectiveness and feasibility of the proposed scheme.

Nonlinear Control Law Design for Lateral Aircraft Dynamics at High Angles of Attack

2013 ◽  
Vol 325-326 ◽  
pp. 1210-1214
Author(s):  
Costin Ene
Keyword(s):  
Numerical Simulations ◽  
Lyapunov Stability ◽  
Stability Theory ◽  
Nonlinear Behavior ◽  
Lyapunov Stability Theory ◽  
Control Law ◽  
Adaptive Backstepping ◽  
Type Design ◽  
Nonlinear Control Law ◽  
High Angles Of Attack

In this paper, an adaptive backstepping type design is proposed to control the complex nonlinear behavior of the wing rock phenomenon. This method, based on Lyapunov stability theory, can simultaneouslyachieve parameters identification and control.Finally numerical simulations are presented to justify the effectiveness of the proposed controller.

scholarly journals Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments

2017 ◽  
Vol 33 (3) ◽  
pp. 610-628 ◽  
Author(s):  
Eleni Kelasidi ◽  
Pal Liljeback ◽  
Kristin Y. Pettersen ◽  
Jan Tommy Gravdahl
Keyword(s):  
Path Following ◽  
Line Of Sight ◽  
Path Following Control ◽  
Theory And Experiments ◽  
Snake Robots

scholarly journals Adaptive Synchronization for Hyperchaotic Liu System

2022 ◽  
Vol 9 ◽  
Author(s):  
Shunjie Li ◽  
Yawen Wu ◽  
Gang Zheng
Keyword(s):  
Adaptive Control ◽  
Lyapunov Stability ◽  
Chaos Synchronization ◽  
Control Design ◽  
Lyapunov Stability Theory ◽  
Adaptive Synchronization ◽  
Control Law ◽  
Control Schemes ◽  
Liu System ◽  
Adaptive Control Law

In this paper, the adaptive control design is investigated for the chaos synchronization of two identical hyperchaotic Liu systems. First, an adaptive control law with two inputs is proposed based on Lyapunov stability theory. Secondly, two other control schemes are obtained based on a further analysis of the proposed adaptive control law. Finally, numerical simulations are presented to validate the effectiveness and correctness of these results.

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