Finite-Time Path Following Control of an Underactuated Marine Surface Vessel with Input and Output Constraints

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.

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

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331217727049 ◽

2017 ◽

Vol 40 (12) ◽

pp. 3477-3488 ◽

Cited By ~ 7

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.

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Finite-time path following control for a stratospheric airship with input saturation and error constraint

International Journal of Control ◽

10.1080/00207179.2017.1357839 ◽

2017 ◽

Vol 92 (2) ◽

pp. 368-393 ◽

Cited By ~ 35

Author(s):

Zewei Zheng ◽

Lihua Xie

Keyword(s):

Finite Time ◽

Input Saturation ◽

Path Following ◽

Stratospheric Airship ◽

Time Path ◽

Path Following Control ◽

Error Constraint

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

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4044272 ◽

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.

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Path following control for marine surface vessel with uncertainties and input saturation

Neurocomputing ◽

10.1016/j.neucom.2015.11.017 ◽

2016 ◽

Vol 177 ◽

pp. 158-167 ◽

Cited By ~ 89

Author(s):

Zewei Zheng ◽

Liang Sun

Keyword(s):

Input Saturation ◽

Path Following ◽

Path Following Control ◽

Marine Surface ◽

Surface Vessel

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

Applied Sciences ◽

10.3390/app9091815 ◽

2019 ◽

Vol 9 (9) ◽

pp. 1815 ◽

Cited By ~ 3

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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Finite-time Coordinated Path-following Control along Convex Loops of Multi-agents with Input Saturation

2020 IEEE 16th International Conference on Control & Automation (ICCA) ◽

10.1109/icca51439.2020.9264428 ◽

2020 ◽

Author(s):

Chenghang Ji ◽

Yang-Yang Chen ◽

Xiang Ai

Keyword(s):

Finite Time ◽

Input Saturation ◽

Path Following ◽

Path Following Control ◽

Multi Agents

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Prescribed Performance Control of Marine Surface Vessel Trajectory Tracking in Finite-Time with Full-State Constraints and Input Saturation

Journal of Marine Science and Engineering ◽

10.3390/jmse9080866 ◽

2021 ◽

Vol 9 (8) ◽

pp. 866

Author(s):

Xiyun Jiang ◽

Yuanhui Wang

Keyword(s):

Finite Time ◽

State Constraints ◽

Tracking Error ◽

Input Saturation ◽

Prescribed Performance ◽

Full State ◽

Marine Surface ◽

Surface Vessel ◽

Full State Constraints ◽

Function Matrix

This manuscript mainly solves a fully actuated marine surface vessel prescribed performance trajectory tracking control problem with full-state constraints and input saturation. The entire control design process is based on a backstepping technique. The prescribed performance control is introduced to embody the analytical relationship between the transient performance and steady-state performance of the system and the parameters. Meanwhile, a new finite time performance function is introduced to ensure that the performance of the system tracking error is constrained within the preset constraints in finite time, and the full-state constraints problem of the system can be solved simultaneously in the entire control design, at the same time without introducing additional theory and parameters. To solve the non-smooth input saturation function matrix is not differentiable, the smooth function matrix is introduced to replace the non-smooth characteristics. Combining the Moore-Penrose generalized inverse matrix to design the virtual control law, the dynamic surface control is introduced to avoid the complicated virtual control derivation process, and finally the actual control law is designed using the properties of Nussbaum function. In addition, in view of the uncertainties in the system, a fractional disturbance observer is designed to estimate it. With the proposed control, the full-state will never be violated constraints, and the system tracking error satisfies transient and steady-state performance. Compared with other methods, the simulation results show the effectiveness and advantages of the proposed method.

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