A kinematic hybrid feedback controller on the unit circle suitable for orientation control of ships

Marley, Mathias; Skjetne, Roger; Teel, Andrew R.

doi:10.1109/cdc42340.2020.9304108

Cited by 7 publications

(5 citation statements)

References 20 publications

(23 reference statements)

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“…The unicycle representation implicitly assumes sway velocity v ≡ 0, and omits the influence of speed loss during turning. For consistenty with earlier work we adopt the unit circle representation of orientation [34]. Let p := (X , Y ) ∈ R 2 , z := (cos(ψ), sin(ψ)) ∈ S and u ∈ R ≥ 0 be the position, heading, and forward speed of the ownship, respectively.…”

Section: ) Control Design Modelmentioning

confidence: 99%

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Four Degree-of-Freedom Hydrodynamic Maneuvering Model of a Small Azipod-Actuated Ship With Application to Onboard Decision Support Systems

et al. 2023

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The main contribution of this paper is a numerical ship motion model of NTNU's research vessel Gunnerus, capturing the surge, sway, roll, and yaw dynamics when sailing in uniform and steady currents. The model utilizes a crossflow drag formulation for the transverse viscous loads, and it includes a nonlinear formulation for the propulsion and steering loads provided by two azipod thrusters. A wide range of experimental data obtained from sea trials are used for model calibration and validation. The model is intended for development of Decision Support Systems (DSS) that provide the helmsman with recommendations for safe maneuvers. As a demonstration, the model is used to generate input to a previously proposed DSS solution, which uses offline simulations to create a database of the critical navigation area for different encounter scenarios. Additionally, we propose a DSS solution that uses online simulations to predict the future ship trajectory under guidance of a virtual autopilot. The virtual autopilot is designed using a novel hybrid control barrier function formulation to predict the need of evasive maneuvers for collision avoidance.

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Section: ) Control Design Modelmentioning

confidence: 99%

“…where r d,nom : R 6 → R is a nominal control law. For the DSS we select the nominal control law [34]…”

Section: ) Safeguarding Control Lawmentioning

confidence: 99%

Four Degree-of-Freedom Hydrodynamic Maneuvering Model of a Small Azipod-Actuated Ship With Application to Onboard Decision Support Systems

et al. 2023

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“…which is a non-hybrid version of the hybrid kinematic controller presented in [27]. We select ω sat = 8 π 180 [rad/s] (corresponding to 8 [deg/s]) and λ = 0.9.…”

Section: F Safety-critical Controllermentioning

confidence: 99%

Synergistic control barrier functions with application to obstacle avoidance for nonholonomic vehicles

Marley

Skjetne

Teel

2021

2021 American Control Conference (ACC)

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Control barrier functions (CBFs) have recently emerged as a means to ensure safety of controlled dynamical systems. CBFs are suitable for obstacle avoidance, where the CBF is often constructed from the distance and relative velocity between the vehicle and the obstacle. For vehicles required to maintain non-zero forward speed, ordinary (non-hybrid) CBFs cannot ensure safety due to vanishing control authority when the vehicle is oriented directly towards the obstacle. In this paper, synergistic CBFs are proposed, which is an intuitive extension of CBFs using ideas from synergistic Lyapunov functions. A synergistic CBF for obstacle avoidance for nonholonomic vehicles is constructed by shifting the orientations with vanishing control authority. This induces a penalty for traversing the obstacle in the counterclockwise or clockwise direction, where a logic variable is used to determine the preferred direction. The performance of the CBF is illustrated by a case study.

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“…In particular, hybrid feedback derived from a family of synergistic potential functions can be used to globally asymptotically stabilize compact sets using gradient descent and a hysteretic switching mechanism [3], [4]. Hybrid feedback has been employed to achieve global asymptotic stability of compact sets for planar orientation control [5], [6], reduced orientation control [7], spatial orientation control [8], [9], tracking of underwater vehicles [10] and for more general compact manifolds [11].…”

Section: Introductionmentioning

confidence: 99%

Global Asymptotic Tracking for Marine Vehicles Using Adaptive Hybrid Feedback

Basso

Schmidt-Didlaukies

Pettersen

et al. 2023

IEEE Trans. Automat. Contr.

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Ð This paper presents an adaptive hybrid feedback control law for global asymptotic tracking of a hybrid reference system for marine vehicles in the presence of parametric modeling errors. The reference system is constructed from a parametrized loop and a speed assignment specifying the motion along the path, which decouples the geometry of the path from the motion along the path. During flows, the hybrid feedback consists of a proportionalderivative action and an adaptive feedforward term, while a hysteretic switching mechanism that is independent of the vehicle velocities determines jumps. The effectiveness of the proposed control law is demonstrated through experiments.

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A kinematic hybrid feedback controller on the unit circle suitable for orientation control of ships

Cited by 7 publications

References 20 publications

Four Degree-of-Freedom Hydrodynamic Maneuvering Model of a Small Azipod-Actuated Ship With Application to Onboard Decision Support Systems

Four Degree-of-Freedom Hydrodynamic Maneuvering Model of a Small Azipod-Actuated Ship With Application to Onboard Decision Support Systems

Synergistic control barrier functions with application to obstacle avoidance for nonholonomic vehicles

Global Asymptotic Tracking for Marine Vehicles Using Adaptive Hybrid Feedback

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