Global stabilisation and tracking control of underactuated surface vessels

Ghommam, Jawhar; Mnif, F.; Derbel, Nabil

doi:10.1049/iet-cta.2008.0131

Cited by 113 publications

(71 citation statements)

References 23 publications

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“…(3) with guidance, control and estimation laws Eqs. (7,20,21) renders the origin of the error system Eqs. (13), (16), (17) UGAS.…”

Section: Control System Designmentioning

confidence: 99%

“…An alternative model-based approach for robust adaptive path following is proposed in [5] and [6] on the basis of adaptive sliding mode control. The same problem was investigated in [7][8][9]. In [7,9], the problem was formulated by a global diffeomorphism combined with backstepping technique, while in [8] was formulated by applying Serret-Frenet frame and model predictive control method.…”

Section: Introductionmentioning

confidence: 99%

“…The same problem was investigated in [7][8][9]. In [7,9], the problem was formulated by a global diffeomorphism combined with backstepping technique, while in [8] was formulated by applying Serret-Frenet frame and model predictive control method. All the aforementioned references propose strategies under the assumption that the vessel is completely symmetric, which doesn't really hold in practice.…”

Section: Introductionmentioning

confidence: 99%

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Straight-line path following for asymmetric unmanned platform with disturbance estimation

Hua¹,

Zheng²,

Chi³

et al. 2016

J. meas. eng.

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The problem of straight-line path following for asymmetric unmanned platform exposed to unknown disturbances was addressed in this paper. The mathematical model of asymmetric unmanned platform was established and the inputs in sway and yaw directions were decoupled, which facilitated the establishment of control strategy of path following. The guidance law and the cross-track error were derived from the classical line-of-sight (LOS) guidance principle. And the equilibrium point of the cross-track error was proven to be uniformly semiglobally exponentially stable (USGES), which guaranteed the exponential convergence to zero. A new disturbance estimation law was developed by adding a linear item of the estimation error into the classical one, which improved the principle’s precision and sensitivity dramatically. The control strategy was developed based on the integrator backstepping technique and the new disturbance estimation law, which made the equilibrium system to be uniformly globally asymptotically stable (UGAS). Computer simulations were conducted to verify the effectiveness of the estimation and control laws during straight-line path following for asymmetric unmanned platform in the presence of unknown disturbances.

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“…(3) with guidance, control and estimation laws Eqs. (7,20,21) renders the origin of the error system Eqs. (13), (16), (17) UGAS.…”

Section: Control System Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Straight-line path following for asymmetric unmanned platform with disturbance estimation

Hua¹,

Zheng²,

Chi³

et al. 2016

J. meas. eng.

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show abstract

“…The bulk of existing research has focused on global stabilization and tracking control [80,81,82,83,84,85,86,87], and with a special concern to its parametric uncertainties [88,89,90].…”

Section: The Surface Vesselmentioning

confidence: 99%

“…Thus, it is recommended to focus on specific classes of UMSs or a single UMS in order to make progress, e.g. [44,20,87,180].…”

Section: Theoretical Challengesmentioning

confidence: 99%

A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

249

142

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An underactuated mechanical system (UMS) is the system that has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research due to its diverse engineering applications.This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control methods, and to some extent, provides some unique insights for bottleneck issues of control and future research directions.

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Practical Robust Neural Path Following Control for Underactuated Marine Vessels with Actuators Uncertainties

Zhang

2016

Asian Journal of Control

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This note tackles the problem of path‐following control for underactuated ships with actuators uncertainties and unknown environmental disturbances. A novel dynamical virtual ship (DVS) guidance principle is initially developed to deal with the assumption that “the reference path could be generated by a virtual ship”, which is normal but not workable in the current literature. In addition, a practical robust control scheme is proposed using feedforward approximation, dynamic surface control, and robust neural damping techniques. In the algorithm, the strong couplings among state variables, underactuated characteristic and the actuators uncertainties are considered to guarantee semiglobal uniform ultimate boundedness of the closed‐loop system. The outstanding advantages are that the control law has a concise form and is easy to implement in practice.The control inputs of interest are two actuator‐steerable variables: the main engine speed and the rudder angle. Although the uncertainties are compensated by NNs, no adaptive parameters are derived for merits of the robust neural damping technique. Finally, the experiment has demonstrated the effectiveness of the proposed scheme, comparing with the LOS self‐tuning fuzzy control.

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Global stabilisation and tracking control of underactuated surface vessels

Cited by 113 publications

References 23 publications

Straight-line path following for asymmetric unmanned platform with disturbance estimation

Straight-line path following for asymmetric unmanned platform with disturbance estimation

A survey of underactuated mechanical systems

Practical Robust Neural Path Following Control for Underactuated Marine Vessels with Actuators Uncertainties

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