Output Feedback Tracking of Ships

Wondergem, Michiel; Lefeber, Erjen; Pettersen, Kristin Y.; Nijmeijer, Henk

doi:10.1109/tcst.2010.2045654

Cited by 99 publications

(40 citation statements)

References 8 publications

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“…Tracking strategies related to underwater vehicles are presented, e.g., in [1][2][3][4]. Some control strategies for surface vessel including ships and hovercrafts can be found in [5][6][7][8][9][10][11][12][13][14][15]. Tracking controllers useful for marine vessels are described also in [16][17][18][19][20].…”

Section: Introductionmentioning

confidence: 99%

Non-adaptive velocity tracking controller for a class of vehicles

Herman

Adamski

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

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Abstract.A non-adaptive controller for a class of vehicles is proposed in this paper. The velocity tracking controller is expressed in terms of the transformed equations of motion in which the obtained inertia matrix is diagonal. The control algorithm takes into account the dynamics of the system, which is included into the velocity gain matrix, and it can be applied for fully actuated vehicles. The considered class of systems includes underwater vehicles, fully actuated hovercrafts, and indoor airship moving with low velocity (below 3 m/s) and under assumption that the external disturbances are weak. The stability of the system under the designed controller is demonstrated by means of a Lyapunov-based argument. Some advantages arising from the use of the controller as well as the robustness to parameters uncertainty are also considered. The performance of the proposed controller is validated via simulation on a 6 DOF robotic indoor airship as well as for underwater vehicle model.

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Section: Introductionmentioning

confidence: 99%

Non-adaptive velocity tracking controller for a class of vehicles

Herman

Adamski

2017

Bulletin of the Polish Academy of Sciences Technical Sciences

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“…Fully actuated vehicles are often considered in the literature, e.g. in for underwater vehicle [9,12], surface vehicles [26,28], hovercrafts [13,25] or airships [20,29]. The main difference between our velocity tracking controller and the aforementioned approaches relies on that we include the vehicle dynamics directly into the velocity control gain matrix.…”

Section: Introductionmentioning

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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“…For ASV, tracking trajectory is difficult to implement since the system has underactuated characteristics and the model is highly nonlinear. Most of the current studies focus on output feedback linearization [1][2], backstepping [3], Lyapunov direct method [4] and sliding mode control.…”

mentioning

confidence: 99%

“…The general spatial equations for ASV can be found in [5].In (2) III. SLIDING MODE CONTROL LAW Sliding mode variable structure control [2] is a kind of discontinuous control method, which can force the system to move to the equilibrium point along the specified sliding surface. It has good self-adaptability to external disturbance and parameter uncertainty.…”

mentioning

confidence: 99%

Sliding-mode Trajectory Tracking Control of Autonomous Surface Vessel

Liang¹,

Ai²,

Lei³

et al. 2017

Proceedings of the 2017 International Conference on Electronic Industry and Automation (EIA 2017)

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Abstract-In this paper, The kinematics and dynamics model of autonomous surface vessels (ASV) is established for the trajectory tracking control of ASV. A trajectory tracking control law is proposed by the sliding mode variable structure control method. Through theoretic analysis, the control law can guarantee the asymptotic stability of the trajectory tracking of ASV. The simulation results show that the proposed method is effective.

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Output Feedback Tracking of Ships

Cited by 99 publications

References 8 publications

Non-adaptive velocity tracking controller for a class of vehicles

Non-adaptive velocity tracking controller for a class of vehicles

Velocity Controller for a Class of Vehicles

Sliding-mode Trajectory Tracking Control of Autonomous Surface Vessel

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