Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels

Li, Zhen; Sun, Jing; Oh, So-Ryeok

doi:10.1016/j.automatica.2009.03.010

Cited by 140 publications

(80 citation statements)

References 20 publications

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“…The system (58) is equivalent to the system (22). Therefore, applying of Lemma II.2 from Appendix B it is possible to conclude UGAS and ULES for the origin og the system (58).…”

Section: E Proof Of Theorem Iii1mentioning

confidence: 91%

“…The proof of Lemma II.2 is given in Appendix B. Lemma II.2 concludes UGAS and ULES stability for the origin of (22). It is hence possible to conclude that the control objectives (4)(5) are achieved with exponential convergence properties in any ball of initial conditions.…”

Section: Proof Of Theorem Ii1mentioning

confidence: 93%

“…The system (66) is similar to the system (22). The only difference is the presence of the unknown constants Γ(s) and s. Nevertheless, the bounds 0 < Γ inf < Γ(s) ≤ Γmax from (43-44), 1/ √ s 2 + 1 < 1 and |s|/ √ s 2 + 1 < 1 are available.…”

Section: =A3(ey2)mentioning

confidence: 99%

“…These results are extended to underactuated underwater vehicles for path following of 3D curves in [20]. The Lyapunov direct method and backstepping techniques are exploited for full-state stabilization of underactuated 3-DOFs surface vessels for tracking and path following scenarios in [21], [22]. This paper focuses on the nonlinear line-of-sight (LOS) guidance principle.…”

Section: Milanmilovanovic@rolls-roycecommentioning

confidence: 99%

See 3 more Smart Citations

Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments

Caharija

Pettersen

Bibuli

et al. 2016

IEEE Trans. Contr. Syst. Technol.

275

158

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Abstract-This paper presents an extensive analysis of the integral line-of-sight (ILOS) guidance method for path following tasks of underactuated marine vehicles, operating on and below the sea surface. It is shown that due to the embedded integral action, the guidance law makes the vessels follow straight lines by compensating for the drift effect of environmental disturbances such as currents, wind and waves. The ILOS guidance is first applied to a 2D model of surface vessels that includes the underactauted sway dynamics of the vehicle as well as disturbances in the form of constant irrotational ocean currents and constant dynamic, attitude dependent, forces. The actuated dynamics are not taken into account at this point. A Lyapunov closed loop analysis yields explicit bounds on the guidance law gains to guarantee uniform global asymptotic stability (UGAS) and uniform local exponential stability (ULES).The complete kinematic and dynamic closed loop system of the 3D ILOS guidance law is analyzed next, hence extending the analysis to underactuated AUVs for 3D straight-line path following applications in the presence of constant irrotational ocean currents. The actuated surge, pitch and yaw dynamics are included in the analysis where the closed loop system forms a cascade, and the properties of UGAS and ULES are shown. The 3D ILOS control system is a generalization of the 2D ILOS guidance. Finally, results from simulations and experiments are presented to validate and illustrate the theoretical results, where the 2D ILOS guidance is applied to the CART and the LAUV vehicles.

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“…The system (58) is equivalent to the system (22). Therefore, applying of Lemma II.2 from Appendix B it is possible to conclude UGAS and ULES for the origin og the system (58).…”

Section: E Proof Of Theorem Iii1mentioning

confidence: 91%

Section: Proof Of Theorem Ii1mentioning

confidence: 93%

Section: =A3(ey2)mentioning

confidence: 99%

Section: Milanmilovanovic@rolls-roycecommentioning

confidence: 99%

See 2 more Smart Citations

Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments

Caharija

Pettersen

Bibuli

et al. 2016

IEEE Trans. Contr. Syst. Technol.

275

158

View full text Add to dashboard Cite

show abstract

“…Yu Jian Cheng carried out path following experiments in the horizontal plane by direct adaptive control method based on neural network [10]. Tang Xudong put forward a process neuron control model [11]. Repoulias Filoktimon and Lapierre designed a horizontal path following controller based on Lyapunov stability theorem and backstepping method [12].…”

Section: Introductionmentioning

confidence: 99%

Path following control for underactuated AUV based on feedback gain backstepping

Liang

You

et al. 2015

Teh. vjesn.

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Original scientific paper In order to achieve path following control for the underactuated AUV in the horizontal plane, we propose that the tracking error equations are established based on virtual target and a novel backstepping method is designed based on Lyapunov stability theorem and feedback gain technique. The nonlinear terms in the error dynamic model can be compensated by adjusting feedback gain of the controller, which can avoid the high-order derivative of the virtual control variable in common backstepping and reduce the complexity of controller and improve adjustability of the controller parameters. Finally, simulation experiments are carried out on WL-II under actuated AUV. The results show that the controller can follow the expected horizontal path precisely, and has theoretical and practical value. Keywords: backstepping; feedback gain; path following control; underactuated AUVRegulator praćenja putanje za potpogonjeni AUV zasnovan na interaktivnom pojačanju povratnog koraka Izvorni znanstveni članak U svrhu razvoja regulatora praćenja putanje podvodno pogonjenog AUV u horizontalnoj ravnini, predlažemo da se jednadžbe grešaka praćenja postave na osnovu virtualnog cilja te je razvijena nova metoda povratnog koraka (backstepping method) na temelju Lyapunovog teorema stabilnosti i tehnike interaktivnog pojačanja. Nelinearni izrazi u modelu dinamičke greške mogu se kompenzirati podešavajući interaktivno pojačanje regulatora, čime se može izbjeći derivacija visokog reda varijable virtualnog regulatora kod uobičajenog povratnog koraka i smanjiti složenost regulatora te poboljšati podesivost parametara regulatora. Konačno, provedena su simulacijska ispitivanja na WL-II podvodno pogonjenom AUV. Rezultati pokazuju da regulator može precizno pratiti očekivanu horizontalnu putanju te ima teorijsku i praktičnu vrijednost. Ključne riječi: interaktivno pojačanje; potpogonjen (underactuated) AUV; povratni korak (backstepping); regulator praćenja putanje

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Fixed‐time disturbance observer‐based fixed‐time path following control for small fixed‐wing UAVs under wind disturbances

Cui,

Zhou,

Huang

et al. 2023

Adaptive Control & Signal

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SummaryIn this paper, the three‐dimensional path following control problem for small‐scale fixed‐wing unmanned aerial vehicles (UAVs) subject to external wind disturbances is investigated. A fixed‐time disturbance observer is designed to estimate the external wind disturbance. The estimates are then incorporated into the fixed‐time integral terminal sliding mode controller such that a composite control scheme is proposed. Under the proposed control scheme, the UAV system not only guarantees a fixed‐time convergence rate but also possesses stronger disturbance rejection ability and better robustness. Finally, the effectiveness of this strategy is verified by numerical simulations.

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Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels

Cited by 140 publications

References 20 publications

Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments

Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments

Path following control for underactuated AUV based on feedback gain backstepping

Fixed‐time disturbance observer‐based fixed‐time path following control for small fixed‐wing UAVs under wind disturbances

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