Output Feedback Look-ahead Position Control of Electrically Driven Fast Surface Vessels

Abstract

Original scienti c paperRobust tracking control is of great importance for the surface vessels applications. This paper addresses the design of a trajectory tracking controller for fast underactuated ships in the presence of model uncertainties without velocity measurements in the yaw and surge directions. An observer-based trajectory tracking controller is proposed for the fast underactuated ship model. Then, the dynamic surface control approach is effectively exploited to propose a tracking controller considering the actuator dynamics. An adaptive robust controller is also used to compensate both the parametric and non-parametric uncertainties in the fast underactuated ship model. A Lyapunov-based stability analysis is utilised to guarantee that tracking and state estimation errors are uniformly ultimately bounded. Simulation results are presented to illustrate the feasibility and ef ciency of the proposed controller.Upravljanje pozicijom elektri cki pokretanog brzog površinskog vozila korištenjem unaprijedne projekcije izlazne povratne veze. Robusno praćenje je pitanje od velikog prakti cnog zna caja za površinska vozila. Ovaj se rad bavi projektiranjem regulatora za praćenje trajektorije za brze podaktuirane brodove s modelima nesigurnosti bez mjerenja brzine u smjerovima zaošijanja i uzdu nog napredovanja. Regulator za praćenje putanje zasnovan na observeru predlo en je za brz podaktuiran model broda. Upravljanje površinskom dinamikom je u cinkovito iskorišteno kako bi se predlo io regulatora za praćenje trajektorije s obzirom na dinamiku aktuatora. Takoer su primjenjene adaptivne robusne tehnike kako bi se nosile sa parametrijskim i neparametrijskim nesigurnostima u modelu brzog podaktuiranoga broda. Analiza stabilnosti temeljena na Lyapunovu se koristi kako bi se zajam cilo da su pogreške praćenja i estimacije stanja Adaptivni robusni regulator takoer se koristi kako bi kompenzirao parametarske i neparametarske nesigurnosti u brzom podaktuiranom brodskom modelu. Analiza stabilnosti temeljena na Lyapunovu se koristi kako bi se zajam cilo da su pogreške praćenja i procjene stanja jednoliko kona cno ograni cene. Prikazani su simulacijski rezultati koji ilustriraju izvedivost i u cinkovitost predlo enog regulatora.Klju cne rije ci: Dinamika aktuatora, adaptivno upravljanje, model nesigurnosti, izlazna povratna veza, praćenje trajektorije

Path following of under-actuated ships based on backstepping and predictive control method

“…To illustrate the effectiveness of addressing the rudder constraints and optimization via the proposed MPC algorithm, we compare the designed MPC controller with the PD controller proposed in Li et al 27 and the sliding mode method (SMC: the sliding surface is s = ψe + 0.1 tanh (0.12ψ e ) and ṡ = −0.1s). The desired waypoint: P 1 (0, 0), P 2 (4000, 0), P 3 (7000, 3000), P 4 (10,000, 3000), P 5 (12,000, 1500), and P 6 (13,500,1500). The initial states: u = 7.2 m/s, v = 0, r = 0, ψ = 0, (x 0 , y 0 ) = (0, −100 m).…”

“…Using the Norrbin model as a prediction model, the system state is discretized and predicted based on the Euler iterative method as follows. We use formula (13) to discrete and predict the system states.…”

“…In Wang et al, 11 a multiobjective genetic algorithm was used to address the restrictions caused by the model perturbation and external interferences. Robust and adaptive control was applied in Zwierzewicz 12 and Padideh et al 13 to offset the modeling inaccuracies and external interferences. The adaptive technique was also applied in Vo et al 14 and Hu et al 15 to address the nonlinear hydrodynamic term or external disturbances.…”

Adaptive Backstepping Sliding Mode Tracking Control for Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation

“…Literature [20] proposed an adaptive backstepping controller which combines the prescribed performance function with the disturbance observer to solve the problem of tracking control under the condition of time-varying disturbances and input saturation. For the case of model uncertainty, an observer based trajectory tracking controller is proposed in [21]. Qu et al designed a backstepping controller based on estimator, which can provide accurate estimation of disturbance and uncertainty [22].…”

“…Sun et al proposed a robust adaptive trajectory tracking algorithm based on proportional integral sliding mode control and backstepping technology to improve the robustness of control system under model uncertainties and environmental disturbances [23]. It can be seen from above literatures that the current research on ship motion control mainly focuses on solving the model parameters uncertainty [13], [14], [16]- [19], [21]- [23], environmental disturbances [13], [14], [19], [20], [23] and input saturation [13], [14], [16], [18], [20]. In this paper, a novel virtual control law can not only avoid the singularity of error, but also avoid the problem of input saturation when the error is large.…”