Point-to-point navigation of underactuated ships

Li, Jihong; Lee, Pan-Mook; Jun, Bong-Huan; Lim, Yong‐Kon

doi:10.1016/j.automatica.2008.08.003

Cited by 272 publications

(146 citation statements)

References 13 publications

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“…At the same time, in the previous literatures [39][40][41], unknown dynamics and external disturbances are compensated separately. However, in this paper, unknown dynamics and time-varing disturbances are packaged together for compensation, which, to a certain extent, can reduce the computation of controller and make it more convenient for engineering implementation.…”

Section: Remarkmentioning

confidence: 99%

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Wang

Fan

et al. 2018

Applied Sciences

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This paper proposes an adaptive trajectory tracking control strategy for underactuated unmanned surface vehicles subject to unknown dynamics and time-varing external disturbances. In short, the goal of this paper is to provide a control strategy that allows an underactuated unmanned surface vehicle to track a time dependent trajectory. First, a first-order sliding surface is introduced into the design of surge control law to converge to surge tracking error, and then a second-order sliding surface is hired to design yaw control law to deal with sway motion tracking error. Meanwhile, neural network minimum learning parameter method, which has a smaller amount of computation than a multilayer neural network, is employed to preserve the control law robustness against unknown dynamics and time-varing disturbances induced by wind, waves and ocean currents. Furthermore, much effort is made to obtain uniform ultimate bounded stability for the closed-loop control system. Finally, the numerical simulation experiments of straight line and circle trajectory tracking have been given to prove the correctness and feasibility of the proposed control strategy.

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Section: Remarkmentioning

confidence: 99%

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Wang

Fan

et al. 2018

Applied Sciences

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“…The first Lyapunov function V 1 is set as positive definite and radially unbounded, while its derivative is quadratically negative definite when asserting (18), (21) and (28). Therefore, by the stability theory of Lyapunov, the origin (x e , y e ,β) = (0, 0, 0) is UGES.…”

Section: Adaptive Compensation Of the Sideslip Anglementioning

confidence: 99%

“…The origin (x e , y e ,β) = (0, 0, 0) is uniformly globally exponentially stable (UGES) if the adaptive law of θ is (21), ψ d is set as (18) and U is equal to (28).…”

Section: Adaptive Compensation Of the Sideslip Anglementioning

confidence: 99%

Adaptive LOS Path Following for a Podded Propulsion Unmanned Surface Vehicle with Uncertainty of Model and Actuator Saturation

Wang

Fan

et al. 2017

Applied Sciences

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This paper addresses three related issues concerning the path following control of a podded propulsion unmanned surface vehicle (USV), namely modeling, guidance and control. The pod is different from the general propeller-rudder propulsion device, and its essence is a vector thruster. Therefore, first, through various assumptions and simplification, the three-degree of freedom (DOFs) planar motion model of the podded propulsion USV is established. Then, the classical line-of-sight (LOS) guidance strategy is improved by adaptive sideslip angle and a time-varying lookahead distance. Based on the guidance system, the corresponding controllers for yaw rate and surge speed are presented, which are combined by backstepping technology, the neural network minimum parameter learning method and the neural shunting model. Specifically, the neural network minimum parameter learning method is proposed to compensate the uncertainty of the model and the immeasurability of external disturbances, and the neural shunting model is employed to cope with the "explosion of complexity" problem of backstepping. Meanwhile, an auxiliary dynamic system is introduced to prevent actuator saturation (input saturation). All error signals of the system are proven to be uniformly ultimately bounded (UUB) by employing Lyapunov stability theory. Finally, two numerical simulations are given to prove the correctness of the proposed scheme.

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“…Moreover, some of the published research results have been derived by combining the traditional LOS approach and nonlinear control methods [7,13,14,20,]. It is noteworthy that some researchers execute path following control using complex system state transform techniques and intelligent learning algorithms which are difficult to design and not easy to implement in the real path following control system [4,6,[9][10][11][12][15][16][17][18][19]21]. Motivated by those considerations, this paper addresses path following control of an underactuated USV based on an improved LOS guidance algorithm.…”

Section: Introductionmentioning

confidence: 99%

“…Path following control of an underactuated autonomous vehicle is addressed in [5], where the authors demonstrate the way in which adaptive switching supervisory control can be combined with the nonlinear Lyapunov based tracking control law to solve the problem of global boundedness and make the position tracking error to converge to a vicinity of the origin that can be made arbitrarily small. The point to point navigation of an underactuated ship is considered in [6], and the model predictive control (MPC) for waypoint tracking of an underactuated surface vessel with input constraints is presented in [7]. Path following control of snake robots along straight paths is considered in [8].…”

Section: Introductionmentioning

confidence: 99%

Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

Liu¹,

Dong

Hong-wang³

et al. 2017

Polish Maritime Research

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Point-to-point navigation of underactuated ships

Cited by 272 publications

References 13 publications

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Adaptive LOS Path Following for a Podded Propulsion Unmanned Surface Vehicle with Uncertainty of Model and Actuator Saturation

Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

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