scholarly journals Asymptotic stabilization of underactuated surface vehicles with actuator saturation

2021 ◽  
Vol 7 ◽  
pp. e793
Author(s):  
Pengfei Zhang ◽  
Tingting Yang
Keyword(s):  
Convergence Rates ◽  
Actuator Saturation ◽  
Input Saturation ◽  
Fractional Power ◽  
Control Laws ◽  
Asymptotic Stabilization ◽  
Global Asymptotic Stabilization ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Cascade Structure

This paper investigates the problem of global asymptotic stabilization of underactuated surface vessels (USVs) with input saturation. A novel input transformation is presented, so that the USV system can be transformed to a cascade structure. For the obtained system, the improved fractional power control laws are proposed to ensure input signals do not exceed actuator constraints and enhance convergence rates. Finally, stabilization and parameter optimization algorithm of USVs are proposed. Simulations are given to demonstrate the effectiveness of the presented method.

Adaptive fuzzy tracking control for underactuated surface vessels with unmodeled dynamics and input saturation

2020 ◽  
Vol 103 ◽  
pp. 52-62
Author(s):  
Yingjie Deng ◽  
Xianku Zhang ◽  
Namkyun Im ◽  
Guoqing Zhang ◽  
Qiang Zhang
Keyword(s):  
Tracking Control ◽  
Input Saturation ◽  
Unmodeled Dynamics ◽  
Adaptive Fuzzy ◽  
Surface Vessels ◽  
Underactuated Surface Vessels

Full-state nonlinear trajectory tracking control of underactuated surface vessels

2020 ◽  
Vol 26 (15-16) ◽  
pp. 1286-1296 ◽  
Author(s):  
Karl L Fetzer ◽  
Sergey Nersesov ◽  
Hashem Ashrafiuon
Keyword(s):  
Trajectory Tracking ◽  
Sliding Mode ◽  
Trajectory Tracking Control ◽  
Control Laws ◽  
Control Approach ◽  
Surface Vessels ◽  
Modeling Uncertainties ◽  
Underactuated Surface Vessels ◽  
System States ◽  
Error Dynamics

This article presents the development, implementation, and comparison of two trajectory tracking nonlinear controllers for underactuated surface vessels. A control approach capable of stabilizing all the states of any planar vehicle is specifically adapted to surface vessels. The method relies on transformation of the six position and velocity state dynamics into a four-state error dynamics. The backstepping and sliding mode control laws are then derived for stabilization of the error dynamics and proven to stabilize all system states. Simulations are presented in the absence and presence of modeling uncertainties and unknown disturbances. An experimental setup is then described, followed by successful experimental implementation and comparison of the two controllers.

scholarly journals Adaptive Neural Path Following Control of Underactuated Surface Vessels With Input Saturation

IEEE Access ◽  
2020 ◽  
pp. 1-1
Author(s):  
Guoqing Xia ◽  
Xinwei Wang ◽  
Bo Zhao ◽  
Zhiwei Han ◽  
Linhe Zheng
Keyword(s):  
Input Saturation ◽  
Path Following ◽  
Surface Vessels ◽  
Path Following Control ◽  
Underactuated Surface Vessels

scholarly journals Robust Adaptive Self-Structuring Neural Network Bounded Target Tracking Control of Underactuated Surface Vessels

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Haitao Liu ◽  
Jianfei Lin ◽  
Guoyan Yu ◽  
Jianbin Yuan
Keyword(s):  
Neural Network ◽  
Target Tracking ◽  
Input Saturation ◽  
Approximate Model ◽  
Model Uncertainties ◽  
The Neural Network ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Unknown Disturbances ◽  
Robust Adaptive

This paper studies the target-tracking problem of underactuated surface vessels with model uncertainties and external unknown disturbances. A composite robust adaptive self-structuring neural-network-bounded controller is proposed to improve system performance and avoid input saturation. An extended state observer is proposed to estimate the uncertain nonlinear term, including the unknown velocity of the tracking target, when only the measurement values of the line-of-sight range and angle can be obtained. An adaptive self-structuring neural network is developed to approximate model uncertainties and external unknown disturbances, which can effectively optimize the structure of the neural network to reduce the computational burden by adjusting the number of neurons online. The input-to-state stability of the total closed-loop system is analyzed by the cascade stability theorem. The simulation results verify the effectiveness of the proposed method.

Robust Composite Nonlinear Feedback Control for Path Following of Underactuated Surface Vessels With Desired-Heading Amendment

2016 ◽  
Author(s):  
Chuan Hu ◽  
Rongrong Wang ◽  
Fengjun Yan
Keyword(s):  
Input Saturation ◽  
Path Following ◽  
Transient Performance ◽  
Nonlinear Feedback ◽  
Sideslip Angle ◽  
Traditional Practice ◽  
Composite Nonlinear Feedback ◽  
Surface Vessels ◽  
Path Following Control ◽  
Underactuated Surface Vessels

This paper studies the transient performance improvement problem for path following control of underactuated surface vessels (USVs) in the presence of oceanic disturbances. The traditional practice that chooses the tangent direction of the desired path as the desired heading may deteriorate the tracking performance in the curve-path following. That is because the sideslip angle is not zero in turnings, which unavoidably makes the lateral offset hard to converge to zero. Also, the disturbances in wave filed greatly affect the transient control of the path following errors. To this end, this paper makes two contributions: 1) An amendment on the choice of the desired heading is presented to consider the sideslip angle in turnings and then achieve a more accurate path-following maneuver; 2) A novel robust composite nonlinear feedback (CNF) technique is proposed based on a multiple-disturbances observer to improve the transient performance for path following control in seaway environment considering the input saturation. Comparative simulations verify the reasonability of the amendment on the desired heading direction and the effectiveness of the CNF approach in improving the transient performance for the path following control of USVs.

Integrated Trajectory Planning and Tracking Control of Underactuated Surface Vessels

2014 ◽  
Author(s):  
Farshad Mahini ◽  
Hashem Ashrafiuon
Keyword(s):  
Tracking Control ◽  
Nonholonomic Constraint ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Equations Of Motion ◽  
Order System ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Error Dynamics ◽  
Trajectory Tracking Controller

A novel nonlinear trajectory tracking controller for underactuated unmanned surface vessels is presented. A comprehensive planar model of the vessel with two control inputs is considered such that the system is represented by the equations of motion comprised of two double integrators subject to a second-order nonholonomic constraint. Given a target trajectory, a transitional desired trajectory is generated that uniformly satisfies the nonholonomic constraint and actuator saturation constraints. The system error dynamics is then modeled using the equations of motion and the transitional desired trajectory. A finite time sliding mode control law is developed to stabilize the yaw rotation which is robust to model uncertainties and disturbances. Consequently, the resulting reduced-order system is asymptotically stabilized via the surge force. Examples are presented and demonstrate that the approach provides trajectories and tracking control inputs which are suitable for real world applications.

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