Disturbance observer-based composite neural learning path following control of underactuated ships subject to input saturation

Zhang, Chenliang; Yang, Tingting; Zhang, Guoqing

doi:10.1016/j.oceaneng.2020.108033

Cited by 21 publications

(10 citation statements)

References 37 publications

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“…Time-varying environmental disturbance

is assumed to be bounded by unknown constants

, and

, that is,

[ 8 , 11 , 21 , 22 , 23 , 24 ] .…”

Section: Methodsmentioning

confidence: 99%

“…The recovery routes of own catamaran are prescribed by the virtual catamaran

where the reference

and all of its first- and second-order derivatives

are all bounded [ 8 , 11 , 22 , 23 , 24 ]. The recovery path is mainly affected by the turning rate of virtual catamaran (

) and constant speed (

) .…”

Section: Methodsmentioning

confidence: 99%

“…However, to the best of our knowledge, many reports of model-based path following control are limited to the simple routes (straight line [ 3 ], curved line [ 5 , 21 ], port [ 8 , 22 , 23 ] and starboard turning [ 9 , 11 ]) with an existing model presented in [ 2 , 3 , 5 , 8 , 9 , 11 , 22 , 23 , 24 ] that includes the unknown restoring forces in the dynamics. Conversely, some numerical publications [ 25 , 26 , 27 , 28 ] without experiments handle the non-diagonal matrices for sway/yaw added mass (

of 3DOF system, A26 of 6 DOF system) for practical situations based on port/starboard symmetry hull forms; however, this overlooks the nonlinear restoring terms in the dynamics, because the fast convergence and robust stability of the underactuated model considering both unknown nonlinear restoring terms and

are more challenging problems.…”

Section: Introductionmentioning

confidence: 99%

“…A model-based approach of path following control with unknown dynamics was built based on the previous numerical scheme by Lee [ 24 ] using a practical underactuated catamaran model. Adaptive backstepping [ 8 , 11 , 12 ], guiding principles for reference trajectories [ 8 , 11 , 22 , 23 ], and DSC skill [ 8 , 14 ] were applied to the practical model in this paper.…”

Section: Introductionmentioning

confidence: 99%

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Path following Control of an Underactuated Catamaran for Recovery Maneuvers

Lee

Song

Kim

et al. 2022

Sensors

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This paper focuses on the autonomous recovery maneuvers of an unknown underactuated practical catamaran, which returns to its initial position corresponding to the man overboard (MOB) by simply adjusting the rate of turn. This paper investigates the completion of model-based path following control for not only the traditional Williamson turn, but also complex recovery routes under time-varying disturbances. The main difficulty of model-based path following control for predicting the hydrodynamic derivatives of a practical catamaran was solved by the approximated calculation of a diagonal matrix. The second key problem of differential calculation for an underactuated model in the case of complex reference trajectories under severe disturbances was investigated. Even though this paper employs a diagonal matrix with unknown nonlinear terms, the experimental test using a small craft with payloads by remote control demonstrated the sway force per yaw moment in turning cases. Adaptive backstepping mechanisms with unknown parameters were proven by the Lyapunov theory as well as the passive-boundedness of the sway dynamics, guaranteeing the stability of sway motion in the case of unavailable sway control. The effectiveness of the algorithms of the guiding concept and error dynamics is demonstrated by the numerical simulations.

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“…Time-varying environmental disturbance

is assumed to be bounded by unknown constants

, and

, that is,

[ 8 , 11 , 21 , 22 , 23 , 24 ] .…”

Section: Methodsmentioning

confidence: 99%

“…The recovery routes of own catamaran are prescribed by the virtual catamaran

where the reference

and all of its first- and second-order derivatives

are all bounded [ 8 , 11 , 22 , 23 , 24 ]. The recovery path is mainly affected by the turning rate of virtual catamaran (

) and constant speed (

) .…”

Section: Methodsmentioning

confidence: 99%

are more challenging problems.…”

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Path following Control of an Underactuated Catamaran for Recovery Maneuvers

Lee

Song

Kim

et al. 2022

Sensors

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show abstract

“…For this reason, the disturbance-observer is adopted as an imperative technique to approximate and compensate this external influence, which can adversely affect the performance of the system [26,27]. Therefore, some significant disturbance observers have been presented in [28][29][30][31].…”

Section: Introductionmentioning

confidence: 99%

A Disturbance-Observer-Based Sliding Mode Control for the Robust Synchronization of Uncertain Delayed Chaotic Systems: Application to Data Security

et al. 2021

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This paper proposes a disturbance observer-based Sliding Mode Control (SMC) approach for the robust synchronization of uncertain delayed chaotic systems. This is done by, first, examining and analyzing the electronic behavior of the master and slave Sprott chaotic systems. Then, synthesizing a robust sliding mode control technique using a newly proposed sliding surface that encompasses the synchronization error between the master and slave. The external disturbances affecting the system were estimated using a disturbance observer. The proof of the semi-globally bounded synchronization between the master and slave was established using the Lyapunov stability theory. The efficiency of the proposed approach was first assessed using a simulation study, then, experimentally validated on a data security system. The obtained results confirmed the robust synchronization properties of the proposed approach in the presence of timedelays and external disturbances. The experimental validation also confirmed its ability to ensure the secure transfer of data. INDEX TERMS Sliding mode control; robust synchronization control; chaotic systems; disturbance observer; data security.

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Robust adaptive asymptotic trajectory tracking control for underactuated surface vessels subject to unknown dynamics and input saturation

Qin

2021

J Mar Sci Technol

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Disturbance observer-based composite neural learning path following control of underactuated ships subject to input saturation

Cited by 21 publications

References 37 publications

Path following Control of an Underactuated Catamaran for Recovery Maneuvers

Path following Control of an Underactuated Catamaran for Recovery Maneuvers

A Disturbance-Observer-Based Sliding Mode Control for the Robust Synchronization of Uncertain Delayed Chaotic Systems: Application to Data Security

Robust adaptive asymptotic trajectory tracking control for underactuated surface vessels subject to unknown dynamics and input saturation

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