Adaptive nonlinear tracking control of an underactuated nonminimum phase model of a marine vehicle using ultimate boundedness

Abstract

Abstract-In this paper, an adaptive nonlinear tracking controller for an underactuated nonminimum phase model of a marine vehicle is derived. The result is kept flexible enough, throughout its derivation, to be applicable to a large variety of marine vehicles. The characteristics of the dynamic model are such that solving the tracking problem is non-trivial. Specifically, we consider a propulsion system composed of either a thruster and a rudder, or a vectored thruster, which provides two independent control commands and three degrees of freedom, with an overall unstable zero-dynamics. The tracking problem dealt with in this paper is solved using a backstepping approach, as well as a technique derived from dynamic surface control theory and the notion of ultimate boundedness. The tracking problem is first solved assuming full knowledge of the geometric and hydrodynamic coefficients appearing in the vehicle's model. The control law is then modified into an adaptive one. Computer simulations are presented to illustrate the performances of the final control algorithm.

Non-linear model predictive formation control for groups of autonomous surface vessels

“…Several control methods have been used to force surface vessels to track parabolic, S-shaped, and time-varying trajectories. Examples of the used control methods are adaptive non-linear control (Morel and Leonessa 2003, Chen and Han 2005, Du and Guo 2005, feed-forward artificial neural networks (Saeed et al 2005), fuzzy control (Velagic et al 2003, H 1 input/ output (I/O) linearization (Hu et al 2003), and the methods developed for tracking control of chained form systems (Pettersen and Nijmeijer 2001). The results of the above mentioned works indicate that by using these control methods, a surface vessel can stay close to the desired trajectory with some errors depending on factors such as un-modelled dynamics, parameter uncertainty, measurement noise, thruster saturation, waves, currents, and position measurement failures.…”

Robótica Submarina: Conceptos, Elementos, Modelado y Control

“…El desarrollo de robots submarinos con impulsores vectoriales es relativamente reciente. En algunos trabajos de investigación se ha analizado la dinámica de este tipo de vehículos y se ha encontrado que presenta grandes ventajas para la navegación y guiado con precisión (Le Page and Holappa, 2000), (Morel and Leonessa, 2003). En (Cavallo et al, 2004) se presentó un impulsor vectorial situado en la parte trasera que, mediante una estructura paralela esférica, permite los movimientos de cabe-ceo y viraje.…”

Kinematic analysis of an Underwater Parallel Robot

“…These architectures vary mainly in the number and disposition of the thrusters [1], [2]. In recent years there have been some efforts to equip submarines with vectored thruters [3], [4], [5]. Thrust-vectoring has been used successfully for enhancing the maneuverability of aircraft, and different researchers believe this method must provide these same results in underwater environments.…”