Robust adaptive path following of underactuated ships

Do, K.D.; Jiang, Zhong‐Ping; Pan, Jin

doi:10.1109/cdc.2002.1184371

Cited by 51 publications

(86 citation statements)

References 14 publications

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“…Several authors have contributed a set of novel ideas and strategies, mainly including time-varying feedback (Pettersen and Nijmeijer, 2001;Do et al, 2004;Do, 2010) and discontinuous feedback (Ghommam et al, 2006;Liu et al, 2012) methods. Pettersen and Nijmeijer (2001) applied the recursive technique to provide a high gain based local exponential stabilization result.…”

Section: Introductionmentioning

confidence: 99%

“…The assumption implies that the reference trajectory cannot be straight line. In order to dispose this problem, Do et al (2004) used a transformation between ψ e and ψ; x e ; y e À Á . A nonlinear robust adaptive algorithm was developed to force an underactuated ship to follow a predefined path at a desired speed, considering the presence of the external disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive neural path-following control for underactuated ships in fields of marine practice

2015

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive neural path-following control for underactuated ships in fields of marine practice

2015

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“…The parameters of ship motion model are [24] Remark The parameters c i (i = 1, 2, 3) are related to the response time to reach the sliding mode surface. The larger the positive value of c i (i = 1, 2, 3), the shorter time is needed.…”

Section: Case 2: Trajectory Trackingmentioning

confidence: 99%

Trajectory tracking of underactuated surface vessels based on neural network and hierarchical sliding mode

2014

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Adaptive robust controllers are proposed for trajectory tracking and stabilization of underactuated surface vessels simultaneously in this paper. Hierarchical sliding mode is employed to deal with the underactuation of the model, and neural network is used as a tool for approximating unknown nonlinear function in the system; in this way, the robustness of the proposed controller is strengthened, and the chattering problem of sliding mode technique is relieved. The nonlinear damping terms of ship's model are considered which are neglected in many studies, and the time-varying disturbances are taken into account to test the robustness of the designed controllers. Stability is guaranteed by Lyapunov theorem, and the proof is given. Numerical simulations are implemented to demonstrate the effectiveness and the robustness of the designed controllers.

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“…Path following aims at forcing the vehicles to follow a desired path asymptotically which is not necessarily generated by virtual model [1] . It is suitable for practical implementations such as the guidance and control of ships.…”

Section: Introductionmentioning

confidence: 99%

Path following control of underactuated ships based on unscented Kalman filter

Wang

Zou

Wang

et al. 2010

J. Shanghai Jiaotong Univ. (Sci.)

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A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined path. The controller is based on analytic model predictive control and unscented Kalman filter (UKF) techniques. The analytic model predictive control provides a systematic method to get appropriate controller parameters to guarantee the stability of the closed-loop system, and the well-defined relative degree is guaranteed by introducing output-redefinition. The UKF is used to estimate the states and uncertain parameters due to time-varying added mass matrices. With help of the proposed UKF-based controller, the underactuated ship with time-varying parameters can follow a desired straight path. Simulation results are presented to demonstrate the effectiveness of the proposed controller.

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Robust adaptive path following of underactuated ships

Cited by 51 publications

References 14 publications

Adaptive neural path-following control for underactuated ships in fields of marine practice

Adaptive neural path-following control for underactuated ships in fields of marine practice

Trajectory tracking of underactuated surface vessels based on neural network and hierarchical sliding mode

Path following control of underactuated ships based on unscented Kalman filter

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