Global trajectory tracking control of underactuated surface vessels with non-diagonal inertial and damping matrices

Xie, Wei; Ma, Bolin; Huang, Wei; Zhao, Yixuan

doi:10.1007/s11071-018-4141-1

Cited by 24 publications

(9 citation statements)

References 33 publications

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“…We will prove that the virtual control input a $ 4 ð$ 1 ; $ 2 ; $ 3 ; $ 5 ; tÞ and a $ 6 ð$ 1 ; $ 2 ; $ 3 ; $ 5 ; tÞ of system (15), which designed in (17), could make the origin of system (15) exponentially stable in this step. In order to better describe the proof process, the average system stability theory is introduced here; see Proposition 1 below, which is referenced from literature.…”

Section: Stability Analysismentioning

confidence: 99%

“…[9][10][11][12] Point stabilization is the most basic case of the motion control of UMV, where the desired position and attitude are chosen to be constant, and it is the important foundation of path following and trajectory tracking of UMV. [13][14][15] A state feedback-based backstepping control algorithm is proposed by Dong et al to address the point stabilization control problem for an underactuated AUV, where an additional error integral action is incorporated for enhancing the steady state performance of the AUV control system. 16 The horizontal waypoint tracking problem for a class of nonlinear AUVs is formulated as an exponential stabilization of the error dynamics with respect to the desired surge speed and the desired yaw angle determined from the line of sight, and the feedback linearization technique is used to make the separate design of the available control inputs.…”

Section: Introductionmentioning

confidence: 99%

“…23 1 m 22 m 23 À d 32 1 m 22 m 23 þ d 33 1 m 2Based on the virtual design idea of nonlinear backstepping technique, we can design the following control input a $ 4 ð$ 1 ; $ 2 ; $ 3 ; $ 5 ; tÞ and a $ 6 ð$ 1 ; $ 2 ; $ 3 ; $ 5 ; tÞ as the virtual input of system(15) a $ 4 ð$ 1 ; $ 2 ; $ 3 ; $ 5 ; tÞ ¼ Àk 1 $ 1 þ½sinðltÞ þ cosðltÞ r a ð$ 1 ; $ 2 ; $ 3 ; $ 5 Þ ; $ 2 ; $ 3 ; $ 5 Þ is the homogeneous norm associated with the dilation D a l ð$ 1 ; $ 2 ; $ 3 ; $ 5 Þ ¼ ðl$ 1 ; l 2 $ 2 ; l$ 3 ; l 2 $ 5 ; tÞ.Under the control of the above virtual control input in(17), subsystem (15) is transformed into (18) as follows 23 1 m 22 m 23 À d 32 1 m 22 m 23 þ d 33 1 m 2…”

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confidence: 99%

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Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Dong

Wang

Song

et al. 2019

International Journal of Advanced Robotic Systems

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Point stabilization control of a class of asymmetric underactuated high-speed unmanned marine vehicle is discussed, and a robust exponential stabilization control algorithm is proposed based on homogeneous theory, average system theory, and nonlinear backstepping technology. Firstly, point stabilization control problem of a high-speed underactuated unmanned marine vehicle with model asymmetry is formulated, and then global differential homeomorphism transformation is designed, in order to overcome the difficulties caused by unmanned marine vehicle with model asymmetry. Secondly, the control system is transformed into the standard form of homogeneous interference system by output state variable transformation design and input transformation design. A novel interference function is designed, and then difficulties caused by the higher order velocities in damping coefficients are solved, via homogeneous stability design and homogeneity degree analyzing the expansion of the designed new state variables. Thirdly, by introducing the virtual input of backstepping and the average system theory, point stabilization controller for the underactuated high-speed unmanned marine vehicle is proposed based on homogeneous theory, which could achieve global and periodic time-varying robust exponential stability, and then stability of the point stabilization control algorithm is proved by using homogeneous stability theory and average system stability theory. At last, the effectiveness and accuracy of the control algorithm proposed is verified by semi-physical simulation experiment carried out in our laboratory.

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Section: Stability Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

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Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Dong

Wang

Song

et al. 2019

International Journal of Advanced Robotic Systems

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“…Currently, much attention has been paid to distributed control of single and double integrator systems [3]- [6]. However, numerous practical engineering systems exist failing to be represented using such models and should be described by Lagrangian equations; see, for instance, mobile robots [7], robotic manipulators [8], and surface vessels [9]. Hence, designing distributed control schemes for networked Lagrangian systems is of great importance.…”

Section: Introductionmentioning

confidence: 99%

Distributed Consensus of Networked Lagrangian Systems With Unknown Nonidentical Control Directions

Tang

Liu

et al. 2020

IEEE Access

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In the literature, most of the consensus methods require the control directions of all agents to be known. This paper deals with the distributed consensus problem without such requirements for networked Lagrangian systems subjected to uncertain dynamics. Unknown control directions are nonidentical in the sense that the control direction related to each control input in an individual Lagrangian system can be different and unknown as well as that the control directions for different Lagrangian systems are allowed to be distinct. Regarding the communication topology, the only requirement is to contain a fixed directed spanning tree. Based on the estimated consensus value, novel auxiliary sliding mode variables are constructed and applied to develop the distributed adaptive consensus control scheme. It is proved by adopting the special properties of the Laplacian matrix on directed graphs and matrix theory that global uniform boundedness of all closed-loop signals and the asymptotic consensus can be achieved. Simulations on networked two-link revolute joint arms are provided to verify the validity of the proposed scheme. INDEX TERMS Consensus, adaptive control, uncertain dynamics, Lagrangian systems.

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“…In recent years, with the continuous improvement of the nonholonomic system theory, the problem of actuator constraints and effectiveness faults [17] and underactuated tracking [18][19][20] of ships have also been actively studied. In this paper, the effect of sway thrust is very obvious for small USV with vector propulsion when the output is selected at the geometric center of the vessel.…”

Section: Introductionmentioning

confidence: 99%

Model Identification and Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicles

2019

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To promote the development of military and civilian applications for marine technology, more and more scientific research around the world has begun to develop unmanned surface vehicles (USVs) technology with advanced control capabilities. This paper establishes and identifies the model of vector propulsion USV, which is widely used at present. After analyzing its actuator distribution, we consider that the more realistic vessel model should be an incomplete underactuated system. For this system, a virtual control point method is adopted and an adaptive sliding mode trajectory tracking controller with neural network minimum learning parameter (NNMLP) theory is designed. Finally, in the simulation experiment, the thruster speed and propulsion angle are used as the inputs of the controller, and the linear and circular trajectory tracking tests are carried out considering the delay effect of the actuator, system uncertainty, and external disturbance. The results show that the proposed tracking control framework is reasonable.

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Global trajectory tracking control of underactuated surface vessels with non-diagonal inertial and damping matrices

Cited by 24 publications

References 33 publications

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Distributed Consensus of Networked Lagrangian Systems With Unknown Nonidentical Control Directions

Model Identification and Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicles

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