Cooperative tracking of vessel trajectories based on curved dynamic coordinates

This paper studies the robust practical tracking control problem of an underactuated hovercraft with unknown external disturbances. Controlling such a system is difficult and challenging due to inherent modeling properties such as underactuated nature and nonholonomic constraint. State transformation technique and cascade method, combined with a transverse function, are used to develop a novel control law that globally practically stabilizes the hovercraft to any smooth reference trajectory, either feasible or non-feasible. The Lyapunov theory is applied to the analysis of overall closed-loop stability. Simulation results illustrate the control design.

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“…The hovercraft dynamics can be derived on the basis of a general USV model given by previous studies [25,27]:…”

Section: Model Descriptionmentioning

confidence: 99%

Robust practical tracking control of an underactuated hovercraft

Yan

Xie

2021

Asian Journal of Control

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“…The system remains on the manifold defined by σ z = 0, and has the error dynamics k z 1ξ e + k z 2ξ e = 0. Substituting Equation (14) into this altitude error dynamics to have the equivalent control:…”

Section: A Pl-smc Designmentioning

confidence: 99%

“…T can also be calculated by the calculation ACM. According to (14), the desired roll and desired pitch angle can be deduced as the form:…”

Section: B Desired Attitude Calculationmentioning

confidence: 99%

“…The associate editor coordinating the review of this manuscript and approving it for publication was Yue Zhang. predictive control [6], linear quadratic regulator [7], proportional integral derivative control [8], fuzzy control [9], [10], back stepping control [11], sliding mode control and adaptive control [12]- [14]. It became clear that attenuation control strategies and disturbance observer can effectively eliminate the influence of external disturbances and model uncertainties to ensure good attitude tracking performance [15]- [17].…”

Section: Introductionmentioning

confidence: 99%

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Autonomous Flight Control for Multi-Rotor UAVs Flying at Low Altitude

et al. 2019

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Unmanned aerial vehicles (UAVs) at low altitude flight may significantly degrade their performance and the safety under wind disturbances and incorrect operations. This paper presents a robust control strategy for UAVs to achieve good performance of low altitude flight and disturbance rejection. First, a novel second-order hexacopter dynamics is established and the position tracking is translated to the altitude and the rotational angle tracking problem. An integrated control scheme is created to deal with the challenges faced by hexacopter at low altitude flight, in which the influence of near-ground threshold distance and the desired roll, pitch, and yaw are analyzed. Moreover, an improved flying altitude planner and an attitude planner for low altitude conditions are designed respectively to avoid the overturning risk due to the big reaction torque and external disturbances. Second, a sliding-mode-based altitude tracking controller and an attitude tracking controller are designed to reduce the tracking errors and improve the robustness of the system. Finally, the proposed control scheme is tested on simulation and experiment platforms of multi-rotor UAV to show the feasibility and accurate trajectory tracking at low altitude flight. INDEX TERMS Modeling, tracking control, low altitude, hexacopter, robustness. YUQING CHEN received the master's and Ph.D. degrees in control theory and control engineering from the

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“…On the other hand, improving system endurance is also a fundamental issue. Therefore, enhancing tracking control performance and optimizing the energy consumption of the USVs have been attracted numerous attention from both academia and industrial [4][5][6][7][8], particularly when there are external disturbances in the working environment.…”

Section: Introductionmentioning

confidence: 99%

Robust state‐error port‐controlled Hamiltonian trajectory tracking control for unmanned surface vehicle with disturbance uncertainties

Zhao

et al. 2020

Asian Journal of Control

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This paper proposed a novel disturbance observer-based control state-error port-controlled Hamiltonian (DOBC-SEPCH) control strategy for optimization of energy consumption and enhancement of tracking performance for unmanned surface vehicle (USV) with unknown environmental disturbances via the PCH system techniques. Firstly, an observer is constructed to estimate disturbances. Then, an energy-based controller is constructed by using the SEPCH system method. In addition, the SEPCH controller provided that the tracking errors converged exponentially to zero. The SEPCH technique is augmented by a disturbance observer. Due to the controller need to be designed in two stages, the stability of the whole system will be difficult to be discussed. We give the proof of the stability of the desired target dynamic system. The robustness and control performance of the system are enhanced. The simulation and comparison results illustrate the performance of this controller.

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Cooperative tracking of vessel trajectories based on curved dynamic coordinates

Cited by 11 publications

References 29 publications

Robust practical tracking control of an underactuated hovercraft

Robust practical tracking control of an underactuated hovercraft

Autonomous Flight Control for Multi-Rotor UAVs Flying at Low Altitude

Robust state‐error port‐controlled Hamiltonian trajectory tracking control for unmanned surface vehicle with disturbance uncertainties

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