Practical control of underactuated ships

Duc, Khac

doi:10.1016/j.oceaneng.2010.04.007

Cited by 278 publications

(158 citation statements)

References 17 publications

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“…To make up for this fault, the improved tracking controllers were proposed in some researches [3][4][5], but those also have stability problem in case of a straight trajectory. And to simplify the design process, some researchers used the state transformation method [7] which removes the difficulties caused by the off-diagonal terms of the system matrix.…”

Section: F a Papoulias Employed The Linearized Dynamics Tomentioning

confidence: 99%

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Lee¹

2017

Journal of the Korea Institute of Military Science and Technolo

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that a surface vessel is a useful and suitable device for environmental surveying, seaside monitoring, military landings, and so on [1][2][3][4][5]. Despite its numerous useful applications, there are several challenging problems in the designing of tracking controller; a highly non-linear system models, stabilization, and under-actuated property, that is a system has smaller number of actuators than ABSTRACTIn this paper, the path tracking controller for a surface vessel based on the sliding mode control (SMC) with the switching law is proposed. In order to have no restriction on movement and improved tracking performance, the proposed control system is developed as follows: First, the kinematic and dynamic models in Cartesian coordinates are considered to solve the singularity problem at the origin. Second, the new multiple sliding surfaces are designed with the SMC and approach angle concept to solve the under-actuated property. Third, the switching control system is designed to improve tracking performance. To prove the stability of the proposed switching system under the arbitrary switching, the Lyapunov stability analysis method with the common Lyapunov function is used. Finally, the computer simulations are performed to demonstrate the performance, effectiveness and stability of the proposed tracking controller of a surface vessel.

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Section: F a Papoulias Employed The Linearized Dynamics Tomentioning

confidence: 99%

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Lee¹

2017

Journal of the Korea Institute of Military Science and Technolo

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“…Since the yaw moment τ r acts directly on the sway dynamics in (1), causing difficulty in designing the controller, we use the following state transformations [13]:…”

Section: State Transformationmentioning

confidence: 99%

“…First, we obtain the virtual leader in reference to the follower in the leader-follower strategy; the formation problem is then dealt with as a tracking problem. Second, in order to design the controller, we use the state transformation [13], which can avoid the difficulties caused by the off-diagonal terms in the system matrix, and we employ self-recurrent wavelet neural networks (SRWNNs) [14,15] to deal with the uncertainties in the hydrodynamic damping terms. Third, using the approach angle [16] and the formation error dynamics in the body-fixed frame, we solve the underactuated problem for AUVs.…”

Section: Introductionmentioning

confidence: 99%

Formation Control for Underactuated Autonomous Underwater Vehicles Using the Approach Angle

Kim¹,

Park

Choi³

2013

International Journal of Fuzzy Logic and Intelligent Systems

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In this paper, we propose a formation control algorithm for underactuated autonomous underwater vehicles (AUVs) with parametric uncertainties using the approach angle. The approach angle is used to solve the underactuated problem for AUVs, and the leader-follower strategy is used for the formation control. The proposed controller considers the nonzero off-diagonal terms of the mass matrix of the AUV model and the associated parametric uncertainties. Using the state transformation, the mass matrix, which has nonzero off-diagonal terms, is transformed into a diagonal matrix to simplify designing the control. To deal with the parametric uncertainties of the AUV model, a self-recurrent wavelet neural network is used. The proposed formation controller is designed based on the dynamic surface control technique. Some simulation results are presented to demonstrate the performance of the proposed control method.

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“…In engineering practice, there are a lot of nonholonomic systems, the causes of this phenomenon are various, some of which are caused due to the moving characteristics of the object itself, such as for pure roll, no sliding movement of the ball and sliding on the ice skate, wheeled mobile robot [2][3][4], etc. ; Also some of them considers actual situation and are artificially added, such as flexible manipulators [5], intelligent vehicle [6], the surface ship [7], etc.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional Chained Nonholonomic Systems Stabilization Control via Dynamic Feedback

Wang

Zhao

2017

IJMUE

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Practical control of underactuated ships

Cited by 278 publications

References 17 publications

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Path Tracking Controller Design for Surface Vessel Based on Sliding Mode Control Method with Switching Law

Formation Control for Underactuated Autonomous Underwater Vehicles Using the Approach Angle

Three-dimensional Chained Nonholonomic Systems Stabilization Control via Dynamic Feedback

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