Nonlinear tracking of underactuated surface vessels

Godhavn, John–Morten

doi:10.1109/cdc.1996.574608

Cited by 101 publications

(70 citation statements)

References 6 publications

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“…At home and abroad, there is a deep research on the track control of the USV, and there are many kinds of research methods, such as PID and improved PID, Lyapunov direct method, Backstepping design method,etc. Godhavn et al [1] designed a global exponential stabilization controller which can achieve good tracking performance in the external environment by using the Backstepping design method and feedback linearization, but the heading angle under the controller is not controlled. Pettersen et al [2] designed a trajectory tracker which can make underactuated ship's heading tracking error and position tracking error achieve exponential stability on the assumption that the expected heading angle acceleration is greater than zero conditions.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

et al. 2016

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Abstract. This paper presents an improved trajectory tracking controller based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV). A Three Degree of Freedom (DOF) underactuated maneuvering motion model for water-jet-propelled USV is established, and controller can track both straight line trajectory and curve trajectory with relatively high accuracy. The stability of USV system is proved by BIBO bounded-input-bounded-output stable characteristics then simulation experiments are carried out to demonstrate the robustness and precise control performance of the controller.

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Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

et al. 2016

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“…Tracking control of ships has mainly been based on linear models, steering the same number of degrees of freedom as the number of controls available. In Godhavn (1996) and Berge et al (1999) output tracking control based on non-linear models of the ship was investigated, and controllers providing global exponential stability of the desired trajectories were developed using feedback linearization. However, complete state tracking was not achieved as only the two position variables converge to their desired trajectories, while the course angle is not controlled.…”

Section: Introductionmentioning

confidence: 99%

Underactuated ship tracking control: Theory and experiments

Pettersen¹,

Nijmeijer²

2001

International Journal of Control

231

126

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We consider complete state tracking feedback control of a ship having two controls, namely surge force and yaw moment. The ship model has similarities with chained form systems but cannot directly be transformed in chained form. In particular, the model has a drift vector ® eld as opposed to the drift-free chained form systems. It is shown here that methods developed for tracking control of chained form systems still can be used for developing a tracking control law for the ship. Through a coordinate transformation the model is put in a triangular-like form which makes it possible to use integrator backstepping to develop a tracking control law. The control law steers both the position variables and the course angle of the ship, providing exponential stability of the reference trajectory. Experimental results are presented where the control law is implemented for tracking control of a model of an oOE shore supply vessel, scale 1 : 70. In the experiments the ship converges exponentially to a neighbourhood of the reference trajectory, and stays close with errors depending on factors as unmodelled dynamics, parameter uncertainty, measurement noise, thruster saturation, waves, currents and position measurement failures.

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“…Namely, in our case, two control inputs are used, surge and sway forces, the sway force being used to generate a yawing moment. Most controllers (see for example [3]- [6]) do not account for this sway force, consequently, they can not be expected to provide good performance if implemented on an actual vehicle using a propeller and a rudder, or a vectored thruster. In [2], the authors take into account such a coupling, however, their dynamic model does not allow to consider the type of propulsion we target.…”

Section: Introductionmentioning

confidence: 99%

“…Many controllers dealing with such a problem are available in the literature ( [2]- [6]). In [3], the case of a surface ship equipped with a pair of propellers is considered.…”

Section: Introductionmentioning

confidence: 99%

Adaptive nonlinear tracking control of an underactuated nonminimum phase model of a marine vehicle using ultimate boundedness

Morel

Leonessa

42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)

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Abstract-In this paper, an adaptive nonlinear tracking controller for an underactuated nonminimum phase model of a marine vehicle is derived. The result is kept flexible enough, throughout its derivation, to be applicable to a large variety of marine vehicles. The characteristics of the dynamic model are such that solving the tracking problem is non-trivial. Specifically, we consider a propulsion system composed of either a thruster and a rudder, or a vectored thruster, which provides two independent control commands and three degrees of freedom, with an overall unstable zero-dynamics. The tracking problem dealt with in this paper is solved using a backstepping approach, as well as a technique derived from dynamic surface control theory and the notion of ultimate boundedness. The tracking problem is first solved assuming full knowledge of the geometric and hydrodynamic coefficients appearing in the vehicle's model. The control law is then modified into an adaptive one. Computer simulations are presented to illustrate the performances of the final control algorithm.

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Nonlinear tracking of underactuated surface vessels

Cited by 101 publications

References 6 publications

Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

Underactuated ship tracking control: Theory and experiments

Adaptive nonlinear tracking control of an underactuated nonminimum phase model of a marine vehicle using ultimate boundedness

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