A Novel Disturbance Estimation Scheme for Formation Control of Ocean Surface Vessels

Xiao, Bing; Yang, Xuebo; Huo, Xing

doi:10.1109/tie.2016.2622219

Cited by 94 publications

(41 citation statements)

References 43 publications

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“…Remark Based on Assumptions and , it can be deduced that there exist unknown positive constants

\underline{g}

and

\overset{g}{true}

such that

\underline{g} I \leq G^{'} \leq \overset{g}{true} I .

In this study, the explicit value or expression of vessel dynamics M , C (·), D (·) required in the works of Børhaug et al, Yin et al, and Do, fault bounds

\underline{ρ}

\overset{b}{true}

needed in the works of Wang and Wen and Ma and Yang, and the disturbance bound

\overset{d}{true}

assumed in the works of Xiao et al, Yang et al, and Peng et al is permitted to be unknown.…”

Section: Problem Statement and Preliminariesmentioning

confidence: 95%

“…Consider a family of the fully actuated marine surface vessels with a symmetric positive definite inertia matrix

\overset{η}{true} = R false(ψ false) ν

M \overset{ν}{true} + ((), C false(ν false) + D false(ν false)) ν + R^{T} false(ψ false) d false(t false) = τ_{f},

with η =[ x , y , ψ ] T , ν =[ u , v , r ] T , and

R false(ψ false) = ([], \begin{matrix} center \\ array \cos (ψ) & array - \sin (ψ) & array 0 \\ array \sin (ψ) & array \cos (ψ) & array 0 \\ array 0 & array 0 & array 1 \end{matrix}),

where ( x , y ) and ψ are the position and heading of the vehicle in an earth‐fixed frame, respectively; ( u , v ) and r are the linear velocities and angular rate in a body‐fixed frame, respectively;

d false(t false) \in R^{3}

denotes the environmental disturbances;

M \in R^{3 \times 3}

is the inertia matrix;

C false(ν false) \in R^{3 \times 3}

is the Coriolis and centripetal matrix;

D false(ν false) \in R^{3 \times 3}

represents the damping matrix;

τ_{f} \in R^{3}

is the vector of control inputs; R ( ψ ) is the rotation matrix with R T ( ψ ) R ( ψ )= I for all

ψ \in R^{3}

with I being an identity matrix. A practical example of (1) is Cybership II as given by Skjetne et al Since M needs to be symmetric positive definite, the vessel with deadwood is out of the range of this study.…”

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

“…Besides, the inertia matrix was required to be known . To counteract the effect of ocean disturbances, disturbance estimation approaches were developed such as terminal sliding mode observers, adaptive observers, and predictors . However, an accurate vessel model was needed.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Zhang

Yang

2018

Intl J Robust & Nonlinear

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Summary This paper concentrates on the leader‐follower formation control problem for marine surface vessels with unknown nonlinear dynamics and actuator faults. The unknown inertia matrix and multiplicative fault render the existing methods infeasible. To solve this problem, a low‐complexity prescribed performance controller is first proposed without the help of auxiliary neural/fuzzy systems or adaptive mechanisms. A modification technique is further adopted to relax the initial condition, such that global closed‐loop stability is guaranteed. Finally, simulation results illustrate the above theoretical results.

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“…Remark Based on Assumptions and , it can be deduced that there exist unknown positive constants

\underline{g}

and

\overset{g}{true}

such that

\underline{g} I \leq G^{'} \leq \overset{g}{true} I .

In this study, the explicit value or expression of vessel dynamics M , C (·), D (·) required in the works of Børhaug et al, Yin et al, and Do, fault bounds

\underline{ρ}

\overset{b}{true}

needed in the works of Wang and Wen and Ma and Yang, and the disturbance bound

\overset{d}{true}

assumed in the works of Xiao et al, Yang et al, and Peng et al is permitted to be unknown.…”

Section: Problem Statement and Preliminariesmentioning

confidence: 95%

“…Consider a family of the fully actuated marine surface vessels with a symmetric positive definite inertia matrix

\overset{η}{true} = R false(ψ false) ν

M \overset{ν}{true} + ((), C false(ν false) + D false(ν false)) ν + R^{T} false(ψ false) d false(t false) = τ_{f},

with η =[ x , y , ψ ] T , ν =[ u , v , r ] T , and

R false(ψ false) = ([], \begin{matrix} center \\ array \cos (ψ) & array - \sin (ψ) & array 0 \\ array \sin (ψ) & array \cos (ψ) & array 0 \\ array 0 & array 0 & array 1 \end{matrix}),

d false(t false) \in R^{3}

denotes the environmental disturbances;

M \in R^{3 \times 3}

is the inertia matrix;

C false(ν false) \in R^{3 \times 3}

is the Coriolis and centripetal matrix;

D false(ν false) \in R^{3 \times 3}

represents the damping matrix;

τ_{f} \in R^{3}

is the vector of control inputs; R ( ψ ) is the rotation matrix with R T ( ψ ) R ( ψ )= I for all

ψ \in R^{3}

Section: Problem Statement and Preliminariesmentioning

confidence: 99%

See 1 more Smart Citation

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Zhang

Yang

2018

Intl J Robust & Nonlinear

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show abstract

“…The reference system (4) can also be called as the exosystem of the multi-USV system (1)- (2). According to the output regulation theory [10], the formation control problem can be conveniently transformed to solving an output regulation problem.…”

Section: A Output Regulation Designmentioning

confidence: 99%

“…For example, in [2], a formation control algorithm based on terminal sliding mode observer was proposed, where the dynamics of USVs are required to be known precisely. In [3], a guidance system was needed to supply desired reference signals, based upon which a universal consensus control law for all formation reference points was proposed to make USVs achieve desired formation.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy output regulation for formation control of unmanned surface vehicles

Wang

et al. 2017

2017 International Conference on Fuzzy Theory and Its Applications (iFUZZY)

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Abstract-In this paper, the formation control problem of unmanned surface vehicles (USVs) is investigated. Unlike the classical formation control problem where the reference signal is required to be second-order differentiable with respect to time, we consider a more general autonomous dynamic system as the reference system. A novel adaptive fuzzy output regulation approach is presented to solve the formation control problem, where a set of regulator equations using only approximation information and a distributed observer are constructed to obtain the feedforward information of the reference system. Based upon this, a distributed adaptive fuzzy control law is designed by using the backstepping technique. It is shown that USVs can effectively achieve the desired formation with the tracking error being adjusted as small as possible. Simulation studies demonstrate that the proposed formation control law is effective and efficient.

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Finite‐time disturbance observer‐based trajectory tracking control for quadrotor unmanned aerial vehicle with obstacle avoidance

Zhang

Niu

et al. 2022

Math Methods in App Sciences

Self Cite

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This paper investigates the problem of trajectory tracking control for quadrotor unmanned aerial vehicle (UAV) in the presence of dynamic obstacles and external disturbance forces/torques. More specifically, two new sliding mode disturbance observers are firstly designed to estimate the external disturbances, in which the observation errors can converge to zero in finite time. Furthermore, utilizing the observation information, a new sliding mode surface-like variable-based position tracking control scheme and a novel nonsingular terminal sliding mode-based attitude synchronization control scheme are developed to drive the UAV tracking the reference trajectory with obstacle avoiding. Moreover, the tracking errors of the close-loop control system can converge to zero within finite time by the analyses of Lyapunov methodology. Finally, the numerical simulation results are presented to illustrate the effectiveness of the proposed control schemes.

show abstract

A Novel Disturbance Estimation Scheme for Formation Control of Ocean Surface Vessels

Cited by 94 publications

References 43 publications

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Fault‐tolerant leader‐follower formation control of marine surface vessels with unknown dynamics and actuator faults

Adaptive fuzzy output regulation for formation control of unmanned surface vehicles

Finite‐time disturbance observer‐based trajectory tracking control for quadrotor unmanned aerial vehicle with obstacle avoidance

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