scholarly journals A New Inertial Aid Method for High Dynamic Compass Signal Tracking Based on a Nonlinear Tracking Differentiator

Sensors ◽  
2012 ◽  
Vol 12 (6) ◽  
pp. 7634-7647 ◽  
Author(s):  
Yao Guo ◽  
Wenqi Wu ◽  
Kanghua Tang
Keyword(s):  
Signal Tracking ◽  
Tracking Differentiator ◽  
Nonlinear Tracking ◽  
High Dynamic

scholarly journals Robust path-following control of underactuated AUVs with multiple uncertainties and state constraints

2021 ◽  
Vol 2121 (1) ◽  
pp. 012042
Author(s):  
Kankan Deng ◽  
Jianming Miao ◽  
Xingyu Sun
Keyword(s):  
State Constraints ◽  
Input Saturation ◽  
Path Following ◽  
Design System ◽  
Robust Controller ◽  
Dynamic Controller ◽  
Tracking Differentiator ◽  
Path Following Control ◽  
Nonlinear Tracking ◽  
Multiple Uncertainties

Abstract This paper proposes a novel robust controller for horizontal path-following problem of an underactuated AUV subject to multiple uncertainties and state constraints. Firstly, four reduced-order extended state observes (ESOs) are designed to estimate the multiple uncertainties, and the estimated values are adopted in the design of kinematic and dynamic controller. Secondly, to address the state constraints, the barrier Lyapunov function is incorporated with the kinematic controller. To resolve the problem of input saturation, the auxiliary design system is utilized in the dynamic controller. To address the problem of “explosion of complexity” inherent in the conventional back-stepping method, a nonlinear tracking differentiator is utilized to obtain the derivative of the desired yaw speed. Finally, the results of numerical simulation are performed to demonstrate the effectiveness of the proposed controller.

Nonlinear Tracking-Differentiator for Velocity Determination Using Carrier Phase Measurements

2009 ◽  
Vol 3 (4) ◽  
pp. 716-725 ◽  
Author(s):  
Yonggang Tang ◽  
Yuanxin Wu ◽  
Meiping Wu ◽  
Xiaoping Hu ◽  
Lincheng Shen
Keyword(s):  
Carrier Phase ◽  
Phase Measurements ◽  
Tracking Differentiator ◽  
Nonlinear Tracking
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