Global Tracking Control of Underactuated Ships With Input and Velocity Constraints Using Dynamic Surface Control Method

Chwa, Dongkyoung

doi:10.1109/tcst.2010.2090526

Cited by 189 publications

(96 citation statements)

References 23 publications

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“…Assuming that the inertia, added mass, and hydrodynamic damping matrices are diagonal, which holds good for ships having port/starboard and fore/aft symmetry [34], the kinematics and dynamics of the USV with no external disturbances can be described as in [35] …”

Section: Kinematics and Dynamics Of Usvmentioning

confidence: 99%

Formation Control of Unmanned Surface Vehicles with Sensing Constraints Using Exponential Remapping Method

Wang

Liu

Hong

2017

Mathematical Problems in Engineering

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This paper presents a formation control strategy for unmanned surface vehicles (USVs) with sensing constraints moving in a leaderfollower formation. Each USV is assumed to be equipped with a vision-based sensor, which is able to get the line-of-sight (LOS) range and bearing information. Most existing literature assumes that the USVs in formation control are with no sensing limitations or with 360-degree sensing fields; however, in our research, the vision-based sensor's capability is restricted due to limited Field of View (FOV) and visual range. We consider that each USV in formation problem is equipped with a sector-like sensing field sensor for the leader-follower formation in two-dimensional space. The formation controller is developed by employing backstepping control technique and exponential remapping. The backstepping controller is designed to stabilize the triangular formation of three USVs, and the proposed exponential remapping method is to deal with the sector-like sensing constraint problem. Comparative analysis with three exponential remapping methods using numerical simulations is given to demonstrate the effectiveness of the proposed method.

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Section: Kinematics and Dynamics Of Usvmentioning

confidence: 99%

Formation Control of Unmanned Surface Vehicles with Sensing Constraints Using Exponential Remapping Method

Wang

Liu

Hong

2017

Mathematical Problems in Engineering

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“…The equations (1) and (2) can be applied for ocean or marine vehicles as well as for airships during indoor experiments. Such examples can be found: (1) for underwater vehicles in [12,17], (2) for surface vessels in [7,18] or hovercrafts in [13,21], (3) for indoor airships in [23,31]. The control strategy is based on transformed equations of motion with the identity inertia matrix.…”

Section: Remarkmentioning

confidence: 99%

Velocity Controller for a Class of Vehicles

Herman

Adamski

2017

Foundations of Computing and Decision Sciences

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Abstract. This paper addresses the problem of velocity tracking control for various fully-actuated robotic vehicles. The presented method, which is based on transformation of equations of motion allows one to use, in the control gain matrix, the dynamical couplings existing in the system. Consequently, the dynamics of the vehicle is incorporated into the control process what leads to fast velocity error convergence. The stability of the system under the controller is derived based on Lyapunov argument. Moreover, the robustness of the proposed controller is shown too. The general approach is valid for 6 DOF models as well as other reduced models of vehicles. Simulation results on a 6 DOF indoor airship validate the described velocity tracking methodology.

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“…Chwa proposes a modular way that cascaded kinematic and dynamic linearizations can be achieved similarly as in the backstepping method. Based on this, under the premise of input and velocity constraints, dynamic surface control (DSC) technology is used to design a trajectory tracking control strategy for an underactuated ship [15]. For an underactuated USV, the experimental implementation of two trajectory tracking control algorithms: a cascade of proportional-derivative controllers and a nonlinear controller are proposed by Sonnenburg et al through the backstepping control technology [16].…”

Section: Introductionmentioning

confidence: 99%

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Wang

Fan

et al. 2018

Applied Sciences

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This paper proposes an adaptive trajectory tracking control strategy for underactuated unmanned surface vehicles subject to unknown dynamics and time-varing external disturbances. In short, the goal of this paper is to provide a control strategy that allows an underactuated unmanned surface vehicle to track a time dependent trajectory. First, a first-order sliding surface is introduced into the design of surge control law to converge to surge tracking error, and then a second-order sliding surface is hired to design yaw control law to deal with sway motion tracking error. Meanwhile, neural network minimum learning parameter method, which has a smaller amount of computation than a multilayer neural network, is employed to preserve the control law robustness against unknown dynamics and time-varing disturbances induced by wind, waves and ocean currents. Furthermore, much effort is made to obtain uniform ultimate bounded stability for the closed-loop control system. Finally, the numerical simulation experiments of straight line and circle trajectory tracking have been given to prove the correctness and feasibility of the proposed control strategy.

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Global Tracking Control of Underactuated Ships With Input and Velocity Constraints Using Dynamic Surface Control Method

Cited by 189 publications

References 23 publications

Formation Control of Unmanned Surface Vehicles with Sensing Constraints Using Exponential Remapping Method

Formation Control of Unmanned Surface Vehicles with Sensing Constraints Using Exponential Remapping Method

Velocity Controller for a Class of Vehicles

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

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