A simple robust control for global asymptotic position stabilization of underactuated surface vessels

Xie, Wei; Ma, Bolin; Fernando, Tyrone; Iu, Herbert Ho Ching

doi:10.1002/rnc.3845

Cited by 31 publications

(19 citation statements)

References 29 publications

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“…Then according to Proposition 2, for positive and large enough values of k 5 and k 6 , the origin of system (18) and (20) is asymptotically stable. As subsystems (18) and (20) are transformed from system (14) under the control laws designed in (17) and (19). Then we could see that the control laws designed in (17) and (19) could make the origin of system (14) asymptotically stable.…”

Section: Stability Analysismentioning

confidence: 99%

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Dong

Wang

Song

et al. 2019

International Journal of Advanced Robotic Systems

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Point stabilization control of a class of asymmetric underactuated high-speed unmanned marine vehicle is discussed, and a robust exponential stabilization control algorithm is proposed based on homogeneous theory, average system theory, and nonlinear backstepping technology. Firstly, point stabilization control problem of a high-speed underactuated unmanned marine vehicle with model asymmetry is formulated, and then global differential homeomorphism transformation is designed, in order to overcome the difficulties caused by unmanned marine vehicle with model asymmetry. Secondly, the control system is transformed into the standard form of homogeneous interference system by output state variable transformation design and input transformation design. A novel interference function is designed, and then difficulties caused by the higher order velocities in damping coefficients are solved, via homogeneous stability design and homogeneity degree analyzing the expansion of the designed new state variables. Thirdly, by introducing the virtual input of backstepping and the average system theory, point stabilization controller for the underactuated high-speed unmanned marine vehicle is proposed based on homogeneous theory, which could achieve global and periodic time-varying robust exponential stability, and then stability of the point stabilization control algorithm is proved by using homogeneous stability theory and average system stability theory. At last, the effectiveness and accuracy of the control algorithm proposed is verified by semi-physical simulation experiment carried out in our laboratory.

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Section: Stability Analysismentioning

confidence: 99%

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Dong

Wang

Song

et al. 2019

International Journal of Advanced Robotic Systems

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“…In addition, damping injection was combined with a nonlinear observer for the control of single‐input PCH systems with bounded lumped disturbances in Reference . Finally, a controller robust to model parameters was proposed in Reference for underactuated surface vessels. In summary, the robust energy shaping control of underactuated PCH systems subject to multiple additive variable disturbances that obviates the solution of the PDE remains an open problem with high practical relevance.…”

Section: Introductionmentioning

confidence: 99%

Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances

Franco

Baena

Astolfi

2020

Intl J Robust & Nonlinear

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This article investigates the control problem for underactuated port-controlled Hamiltonian systems with multiple linearly parameterized additive disturbances including matched, unmatched, constant, and state-dependent components. The notion of algebraic solution of the matching equations is employed to design an extension of the interconnection and damping assignment passivity-based control methodology that does not rely on the solution of partial differential equations. The result is a dynamic state-feedback that includes a disturbance compensation term, where the unknown parameters are estimated adaptively. A simplified implementation of the proposed approach for underactuated mechanical systems is detailed. The effectiveness of the controller is demonstrated with numerical simulations for the magnetic-levitated-ball system and for the ball-on-beam system. K E Y W O R D Sadaptive control, disturbance rejection, mechanical systems, passivity-based control, underactuated systems 1 This is an open access article under the terms of the Creative Commons Attribution License, which permits use, distribution and reproduction in any medium, provided the original work is properly cited. 4112wileyonlinelibrary.com/journal/rnc Int J Robust Nonlinear Control. 2020;30:4112-4128.FRANCO et al. 4113A further aspect of energy shaping control that has been attracting increasing attention is robustness to disturbances, which are common to most practical application. Notable results in this area include the study of viscous friction within the controlled Lagrangians formulation, 12,13 and of continuous and smooth physical dissipation within the IDA-PBC framework, 14,15 while friction according to the Dahl model affecting the actuated part of the state was considered in Reference 16. Stability and robustness of disturbed PCH systems with dissipation were investigated in Reference 17. The robust energy shaping control of fully actuated mechanical systems with disturbances was presented in Reference 18, while disturbance attenuation for discrete-time systems was studied in Reference 19. More recently, integral IDA-PBC designs that rely on the classical solution of the PDE were proposed in References 20-22 for a class of underactuated mechanical systems with constant matched disturbances (ie, those affecting the actuated part of the state), and in Reference 23 for bounded matched disturbances. The result in Reference 21 was extended to unmatched constant disturbances in Reference 24, which, however, is only applicable to mechanical systems with constant inertia matrix. The case of nonconstant inertia matrix and variable but bounded disturbances was considered in Reference 25. In addition, the adaptive compensation of constant disturbances within energy shaping control was attempted in References 26,27: while the former still requires solving the PDE, the latter is confined to a limited class of mechanical systems. Besides energy shaping, a sliding mode control for a class of underactuated systems with dry friction was presented in Ref...

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“…The DP technology of USV has received a considerable amount of attentions (Dong et al, 2019; Sarfraz et al, 2017; Xie et al, 2017). Since USVs are always exposed to the unpredictable and inevitable external environment disturbances, their disturbance cancellation problem is crucial in DP control design (Jiang et al, 2020; Panagou and Kyriakopoulos, 2014; Sun et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Dynamic positioning for underactuated surface vessel via L₁ adaptive backstepping control

Chen

Peng

Zhang

et al. 2020

Transactions of the Institute of Measurement and Control

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This paper is concerned with the problem that fast-transient response and excellent robustness cannot be satisfied simultaneously in the process of dynamic positioning (DP) for underactuated surface vessel (USV) in shallow water. By combing the improved L1 adaptive control with backstepping method, a novel control scheme is designed, which can ensure a fast adaptation with a guaranteed smooth transient response without any overshoot and chattering phenomenon. System uncertainties and disturbances are estimated by the nonlinear observer. Moreover, the optimized extremum seeking control (ESC) is employed to reduce energy consumption under environmental disturbances. Rigorous theoretical analysis shows that all closed-loop signals are bounded-input bounded-state. Simulation and sea test results are presented to illustrate the effectiveness and the robustness of the proposed strategy under the condition of external disturbances and parametric uncertainties.

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A simple robust control for global asymptotic position stabilization of underactuated surface vessels

Cited by 31 publications

References 29 publications

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances

Dynamic positioning for underactuated surface vessel via L₁ adaptive backstepping control

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A simple robust control for global asymptotic position stabilization of underactuated surface vessels

Cited by 31 publications

References 29 publications

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Robust dynamic state feedback for underactuated systems with linearly parameterized disturbances

Dynamic positioning for underactuated surface vessel via L1 adaptive backstepping control

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Dynamic positioning for underactuated surface vessel via L₁ adaptive backstepping control