scholarly journals Model Identification and Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicles

Electronics ◽  
2019 ◽  
Vol 9 (1) ◽  
pp. 22 ◽  
Author(s):  
Xiaojie Sun ◽  
Guofeng Wang ◽  
Yunsheng Fan
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Control Point ◽  
Model Identification ◽  
Underactuated System ◽  
Trajectory Tracking Control ◽  
Unmanned Surface Vehicles ◽  
Trajectory Tracking Controller

To promote the development of military and civilian applications for marine technology, more and more scientific research around the world has begun to develop unmanned surface vehicles (USVs) technology with advanced control capabilities. This paper establishes and identifies the model of vector propulsion USV, which is widely used at present. After analyzing its actuator distribution, we consider that the more realistic vessel model should be an incomplete underactuated system. For this system, a virtual control point method is adopted and an adaptive sliding mode trajectory tracking controller with neural network minimum learning parameter (NNMLP) theory is designed. Finally, in the simulation experiment, the thruster speed and propulsion angle are used as the inputs of the controller, and the linear and circular trajectory tracking tests are carried out considering the delay effect of the actuator, system uncertainty, and external disturbance. The results show that the proposed tracking control framework is reasonable.

scholarly journals Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3305 ◽  
Author(s):  
Gang Wang ◽  
Chenghui Zhou ◽  
Yu Yu ◽  
Xiaoping Liu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Parameter Uncertainties ◽  
Trajectory Tracking Control ◽  
Adaptive Sliding Mode

When the wheeled mobile robot (WMR) is required to perform specific tasks in complex environment, i.e., on the forestry, wet, icy ground or on the sharp corner, wheel skidding and slipping inevitably occur during trajectory tracking. To improve the trajectory tracking performance of WMR under unknown skidding and slipping condition, an adaptive sliding mode controller (ASMC) design approach based on the extended state observer (ESO) is presented. The skidding and slipping is regarded as external disturbance. In this paper, the ESO is introduced to estimate the lumped disturbance containing the unknown skidding and slipping, parameter variation, parameter uncertainties, etc. By designing a sliding surface based on the disturbance estimation, an adaptive sliding mode tracking control strategy is developed to attenuate the lumped disturbance. Simulation results show that higher precision tracking and better disturbance rejection of ESO-ASMC is realized for linear and circular trajectory than the ASMC scheme. Besides, experimental results indicate the ESO-ASMC scheme is feasible and effective. Therefore, ESO-ASMC scheme can enhance the energy efficiency for the differentially driven WMR under unknown skidding and slipping condition.

scholarly journals Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Sanxiu Wang
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Robotic Manipulator ◽  
Trajectory Tracking Control ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

In response to the issue of the trajectory tracking control problem of manipulators with uncertain parameters and external disturbance, an adaptive fuzzy sliding mode robust control algorithm is proposed. Sliding mode control (SMC) is adopted to perform robotic manipulator trajectory tracking control. Then, a fuzzy logic system is used for adaptive adjustment of switching gain of the SMC and to reduce the buffeting problem. Next, compensation is made by using the robust controller in consideration of the impacts of unmodeled dynamics and external disturbance. The simulation experiment on a two axes robotic manipulator shows that, with the proposed control method, the sliding mode control input signal is kept smooth, and the manipulator has high trajectory tracking precision.

Trajectory Tracking and Control for Nonholonomic Ground Vehicle: Preliminary and Experimental Test

2018 ◽  
Author(s):  
Yuanyan Chen ◽  
J. Jim Zhu
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Controller Design ◽  
Nonholonomic Constraints ◽  
Underactuated System ◽  
Model Parameters ◽  
Trajectory Tracking Control ◽  
Scaled Model ◽  
Ground Vehicle ◽  
Trajectory Tracking Controller

A car-like ground vehicle is a nonlinear and underactuated system subject to nonholonomic constraints. Trajectory tracking control of such systems is a challenging problem. To this end, a trajectory tracking controller based on nonlinear kinematics and dynamics model of a ground vehicle by Trajectory Tracking Control (TLC) is presented in our previous work. In this paper, we present hardware validation of TLC controller design with vehicle parameters determination for a Radio Controlled (RC) scaled model vehicle, experimental implementation, and tuning procedure. Hardware testing results are presented to demonstrate the effectiveness of our design. The design can be readily scaled-up to full-size vehicles and adapted to different types of autonomous ground vehicles with only knowledge of the vehicle model parameters.

Alternative trajectory-tracking control approach for marine surface vessels with experimental verification

Robotica ◽  
2012 ◽  
Vol 31 (1) ◽  
pp. 25-33 ◽  
Author(s):  
Farbod Fahimi ◽  
Chris Van Kleeck
Keyword(s):  
Experimental Verification ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Field Experiments ◽  
Control Point ◽  
Underactuated System ◽  
Model Based ◽  
Surface Vessels ◽  
Tracking Controller ◽  
Trajectory Tracking Controller

SUMMARYExperiments with a nonlinear trajectory-tracking controller for marine unmanned surface vessels are reported. The tracking controller is designed using a nonlinear robust model-based sliding mode approach. The marine vehicles can track arbitrary desired trajectories that are defined in Cartesian coordinate as continuous functions of time. The planar dynamic model used for the controller design consists of 3 degrees of freedom (DOFs) of surge, sway, and yaw. The vessel only has two actuators, so the vessel is underactuated. Therefore, only two outputs, which are functions of the 3-DOF, can be controlled. The Cartesian position of a control point on the vessel is defined as the output. The orientation dynamics is not directly controlled. It has been previously shown that the orientation dynamics, as the internal dynamics of this underactuated system, is stable. The result of field experiments show the effectiveness of tracking control laws in the presence of parameter uncertainty and disturbance. The experiments were performed in a large outdoor pond using a small test boat. This paper reports the first theoretical development and experimental verification of the proposed model-based nonlinear trajectory-tracking controller.

Trajectory tracking control based on Lyapunov method and terminal sliding mode

2013 ◽  
Vol 32 (11) ◽  
pp. 3243-3246 ◽  
Author(s):  
Yang-ming ZHANG ◽  
Guo-rong LIU ◽  
Dong-bo LIU ◽  
Huan LIU
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Lyapunov Method ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Terminal Sliding Mode
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