Nonlinear vectorial backstepping design for global exponential tracking of marine vessels in the presence of actuator dynamics

Fossen, Thor I.; Berge, Stig

doi:10.1109/cdc.1997.649499

Cited by 74 publications

(50 citation statements)

References 3 publications

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“…This has requested to extend the nominal control law (34)-(35) by backstepping once more through the actuator dynamics. The implemented solution is based on Fossen and Berge (1997).…”

Section: Simulation Resultsmentioning

confidence: 99%

Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

Tabatabaeipour

Galeazzi

2015

IFAC-PapersOnLine

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This paper proposes a fault tolerant control method for input-affine nonlinear systems using a nonlinear reconfiguration block (RB). The basic idea of the method is to insert the RB between the plant and the nominal controller such that fault tolerance is achieved without re-designing the nominal controller. The role of the RB is twofold: on one hand it transforms the output of the faulty system such that its behaviour is similar to that of the nominal one from the controller's viewpoint; on the other hand it modifies the control input to the faulty system such that the stability of the reconfigured loop is preserved. The RB is realized by a virtual actuator and a reference model. Using notions of incremental and input-to-state stability (ISS), it is shown that ISS of the closed-loop reconfigured system can be achieved by the separate design of the virtual actuator. The proposed method does not need any knowledge of the nominal controller and only assumes that the nominal closed-loop system is ISS. The method is demonstrated on a dynamic positioning system for an offshore supply vessel, where the virtual actuator is designed using backstepping.

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“…This has requested to extend the nominal control law (34)-(35) by backstepping once more through the actuator dynamics. The implemented solution is based on Fossen and Berge (1997).…”

Section: Simulation Resultsmentioning

confidence: 99%

Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

Tabatabaeipour

Galeazzi

2015

IFAC-PapersOnLine

View full text Add to dashboard Cite

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“…So the disturbance differential equation is

\overset{b}{true} = - T_{b}^{- 1} b + E_{b} q_{b},

where b is referred to as the bias vector, q b is a zero mean Gaussian white noise, T b is a diagonal matrix containing the bias time constant, E b is a diagonal matrix acting as a scaling factor for q b .

T_{b}^{- 1} = E_{b} = 1 0^{- 3} ([], \begin{matrix} 1 & 0 & 0 \\ 0 & 1 & 0 \\ 0 & 0 & 1 \end{matrix}), k_{b} = 0.2

The system matrices are defined in Table .…”

Section: Examplesmentioning

confidence: 99%

Fault tolerant control design using adaptive control allocation based on the pseudo inverse along the null space

Tohidi

Sedigh

Buzorgnia

2016

Int. J. Robust. Nonlinear Control

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Summary Fault‐tolerant control systems are vital in many industrial systems. Actuator redundancy is employed in advanced control strategies to increase system maneuverability, flexibility, safety, and fault tolerability. Management of control signals among redundant actuators is the task of control allocation algorithms. Simplicity, accuracy and low computational cost are key issues in control allocation implementations. In this paper, an adaptive control allocation method based on the pseudo inverse along the null space of the control matrix (PAN) is introduced in order to adaptively tolerate actuator faults. The proposed method solves the control allocation problem with an exact solution and optimized l∞ norm of the control signal. This method also handles input limitations and is computationally efficient. Simulation results are used to show the effectiveness of the proposed method. Copyright © 2016 John Wiley & Sons, Ltd.

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“…We consider here the ship model presented in [37] and [38]. Earth-fixed positions (x, y) and yaw angle (see Figure 8) are represented by the vector = [x, y, ] T and the body-fixed velocities are expressed by = [v, u,r ] T , where v is the forward velocity (surge), u the transverse velocity (sway) and r the angular velocity in yaw (rate of turn).…”

Section: An Overactuated Marine Vesselmentioning

confidence: 99%

Fault‐tolerant adaptive control allocation schemes for overactuated systems

Casavola

Garone

2010

Intl J Robust & Nonlinear

112

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SUMMARYThis paper presents a fault-tolerant adaptive control allocation scheme for overactuated systems subject to loss of effectiveness actuator faults. The main idea is to use an 'ad hoc' online parameters estimator, coupled with a control allocation algorithm, in order to perform online control reconfiguration whenever necessary. Time-windowed and recursive versions of the algorithm are proposed for nonlinear discrete-time systems and their properties analyzed. Two final examples have been considered to show the effectiveness of the proposed scheme. The first considers a simple linear system with redundant actuators and it is mainly used to exemplify the main properties and potentialities of the scheme. In the second, a realistic marine vessel scenario under propeller and thruster faults is treated in full details.

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Nonlinear vectorial backstepping design for global exponential tracking of marine vessels in the presence of actuator dynamics

Cited by 74 publications

References 3 publications

Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

Reconfigurable Control of Input Affine Nonlinear Systems under Actuator Fault

Fault tolerant control design using adaptive control allocation based on the pseudo inverse along the null space

Fault‐tolerant adaptive control allocation schemes for overactuated systems

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