Trajectory-tracking controller design of underactuated surface vessels

2011 ◽  
Author(s):  
Fuguang Ding ◽  
Yuanhui Wang ◽  
Yong Wang
Keyword(s):  
Trajectory Tracking ◽  
Controller Design ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

A Novel Approach to Model and Implement Planar Trajectory-Tracking Controllers for AUVs/ASVs

2014 ◽  
Vol 1016 ◽  
pp. 686-693
Author(s):  
N. Dong ◽  
N.H. Nam ◽  
K.M. Tuan ◽  
N.V. Hien
Keyword(s):  
Trajectory Tracking ◽  
Autonomous Underwater Vehicles ◽  
Model Driven ◽  
Development Lifecycle ◽  
Novel Approach ◽  
Surface Vessels ◽  
Planar Trajectory ◽  
Tracking Controller ◽  
Trajectory Tracking Controller ◽  
New Applications

Following the Model-Driven Architecture (MDA) approach, we have modeled and implemented a planar trajectory planning and tracking controller designed for Autonomous Underwater Vehicles or Autonomous Surface Vessels (AUVs/ASVs). Our approach covers steps such as the requirement, analysis, design and implementation to model and realize a controller for most standard AUV/ASV platforms. It also allows the designed elements to be customizable and re-usable in the development of new applications of AUV/ASV controllers. The paper describes step-by-step the development lifecycle of planar trajectory-tracking controller for AUVs/ASVs. Based on this approach, a horizontal trajectory-tracking controller of a miniature autonomous submerged vehicle is completely developed and successfully taken on trial trip.

scholarly journals Active Disturbance Rejection Based Robust Trajectory Tracking Controller Design in State Space

2019 ◽  
Vol 141 (6) ◽  
Author(s):  
Emre Sariyildiz ◽  
Rahim Mutlu ◽  
Chuanlin Zhang
Keyword(s):  
State Space ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Position Control ◽  
Controller Design ◽  
Design Method ◽  
Control Input ◽  
Active Disturbance Rejection ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

This paper proposes a new active disturbance rejection (ADR) based robust trajectory tracking controller design method in state space. It can compensate not only matched but also mismatched disturbances. Robust state and control input references are generated in terms of a fictitious design variable, namely differentially flat output, and the estimations of disturbances by using differential flatness (DF) and disturbance observer (DOb). Two different robust controller design techniques are proposed by using Brunovsky canonical form and polynomial matrix form approaches. The robust position control problem of a two mass-spring-damper system is studied to verify the proposed ADR controllers.

Adaptive trajectory tracking controller design for a quadrotor UAV with payload variation

2018 ◽  
Vol 11 (4) ◽  
pp. 496-510 ◽  
Author(s):  
Shuai An ◽  
Suozhong Yuan ◽  
Huadong Li
Keyword(s):  
Trajectory Tracking ◽  
Controller Design ◽  
System Structure ◽  
Adaptive Sliding Mode Control ◽  
Wind Disturbance ◽  
Content Type ◽  
Quadrotor Uav ◽  
Tracking Controller ◽  
Trajectory Tracking Controller ◽  
Payload Variation

Purpose The purpose of this paper is to enhance the quadrotor’s capability of short-distance delivery to satisfy the large demand for quadrotor, which is used for goods distribution in huge warehouses, under time-varying payload and external wind disturbance. Design/methodology/approach A trajectory tracking controller design based on the combination of an adaptive sliding mode control (ASMC) method and the active disturbance rejection control (ADRC) technique is proposed. Besides, an inner–outer loop control system structure is adopted. Findings Simulation results of different trajectory tracking verify the effectiveness and robustness of the proposed tracking control method under various conditions, including parameter uncertainty and external wind disturbance. The proposed control strategy ensures that quadrotor UAV is capable of tracking linear and spiral trajectory well whether it loads or unloads goods in the presence of the external wind disturbance. Originality/value The proposed method of designing a trajectory tracking controller is based on an integral ADRC and ASMC scheme so as to deal with the trajectory tracking problem for a quadrotor with payload variation.

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