Position Tracking Control of Fully-Actuated Underwater Vehicles With Constrained Attitude and Velocities

He, Shiming; Kou, Liwei; Li, Yanjun; Xiang, Ji

doi:10.1109/tie.2022.3140516

Cited by 14 publications

(4 citation statements)

References 28 publications

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“…∆(η, ν) denotes the modeling error and uncertain dynamics considered as internal disturbance. τ is the control input vector that needs to be designed (other kinds of mathematical models of marine crafts applicable to DP can be roughly divided into two categories: underwater vehicles [7,8], and underactuated surface vessels [9,10]).…”

Section: Thorny Issues In Dp Control Designmentioning

confidence: 99%

“…These constraint conditions can be defined based on the specific task and environment. Currently, mainstream methods for handling constraints in DP control include barrier functions [7,39], MPC [40] and artificial potential field methods [41]. However, handling multiple constraints can be a very challenging problem, as addressing a single constraint often affects the constraint effectiveness of other indicators.…”

Section: Compound Multi-constraint Restrictionsmentioning

confidence: 99%

“…The controller, which is based on nonlinear model predictive control (NMPC), uses the estimated states and computes optimum control commands online, considering the actuator and state constraints for smooth navigation and better noise rejection. In NMPC, the control problem is casted as finding solutions to an objective function, including nonlinear system dynamics [7], [8]. In this method, improved results can be expected as input and state constraints are satisfied when computing the control commands [9], [10].…”

Section: Optimal Control Designmentioning

confidence: 99%

“…In cases of position and velocity limitations, controller designs based on barrier functions are effective approaches for solving DP constraint control problems. In [7] a convex-optimization DP controller was designed for underwater vehicles based on barrier functions and disturbance observer. By utilizing barrier Lyapunov functions, an asymmetric-constraint DP control scheme was designed in [131].…”

Section: Constraint Control Designmentioning

confidence: 99%

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Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Gao,

2024

JMSE

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This paper surveys the recent advances in dynamic positioning (DP) control for marine crafts. DP of marine crafts means that a craft can maintain a fixed position and heading, or move along a predetermined trajectory slowly without the anchoring system, using only its own thruster system to counteract ocean disturbances. The survey is by no means exhaustive but provides a survey of some of the major technological advancements in DP controller design over the years of research and development. Firstly, the model of marine crafts and some difficult problems in DP control are introduced including the impact of multiple source disturbance, unavailable velocity measurement information, resource conservation and performance optimization, destabilizing impact of faults and network security and compound multi-constraint restrictions. Then, the DP control schemes in recent years are summarized and classified in detail. Finally, some theoretical and technical problems are proposed, including online data-driven model-free control, man–machine combination intelligent control and composite hierarchical anti-disturbance control to guide future investigations.

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Section: Thorny Issues In Dp Control Designmentioning

confidence: 99%

Section: Compound Multi-constraint Restrictionsmentioning

confidence: 99%

Section: Optimal Control Designmentioning

confidence: 99%

Section: Constraint Control Designmentioning

confidence: 99%

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Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Gao,

2024

JMSE

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Fixed‐time rotating consensus control of second‐order multi‐agent systems

Kou,

Huang,

Zuo

et al. 2024

Intl J Robust & Nonlinear

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This article investigates the fixed‐time rotating consensus problem of second‐order multi‐agent systems in both the leaderless and leader‐following cases. Specifically, in the leaderless case, a distributed controller is developed to drive all agents to reach rotating consensus in fixed‐time. In the leader‐following case, a distributed fixed‐time observer is first proposed to estimate the position of a rotating leader. Then, a local fixed‐time output feedback controller without any velocity measurements is proposed to achieve the leader‐following motion. Furthermore, an integral sliding mode control technique is applied to handle the case where the multi‐agent system is subject to time varying external disturbances. Based on the bi‐limit homogeneity method and Lyapunov theory, we prove that all the agents reach the rotating consensus within a fixed time independent of initial conditions. Finally, simulations illustrate the effectiveness of the proposed controllers.

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A survey on convex optimization for guidance and control of vehicular systems

Wang

2024

Annual Reviews in Control

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Position Tracking Control of Fully-Actuated Underwater Vehicles With Constrained Attitude and Velocities

Cited by 14 publications

References 28 publications

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Dynamic Positioning Control for Marine Crafts: A Survey and Recent Advances

Fixed‐time rotating consensus control of second‐order multi‐agent systems

A survey on convex optimization for guidance and control of vehicular systems

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