Robust adaptive tracking control of UMSVs under input saturation: A single-parameter learning approach

Lu, Jinshu; Yu, Shulan; Zhu, Guibing; Zhang, Qiang; Chen, Chao; Zhang, Jianwei

doi:10.1016/j.oceaneng.2021.108791

Cited by 20 publications

(5 citation statements)

References 48 publications

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“…In practical hydraulic systems, the physical parameters m , σ 0 , σ 1 , A , D , β e , K m , V t , and C t are all positive and bounded; therefore, the condition 0 < θ i ≤ k i ( i = 1,...,7) is satisfied. The boundedness of the disturbances is a mild condition to develop a feasible control strategy, and the similar assumption can be found in many works (Barchi et al, 2021; Lu et al, 2021; Xia et al, 2023; Yang et al, 2022). From a practical viewpoint, the energy of the disturbances in hydraulic systems is finite, which also implies that d 1 and d 2 are bounded.…”

Section: Dynamic Modeling Of the Systemmentioning

confidence: 70%

Section: Introductionmentioning

confidence: 99%

“…Combining the advantages of adaptive control and robust control, RAC is simple in structure and widely applicable. In Lu et al (2021), RAC was used to handle bounded time-varying disturbances. In Izadbakhsh (2017), RAC was utilized to handle the unknown uncertainties approximated by the Fourier series.…”

Section: Introductionmentioning

confidence: 99%

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LuGre model–based robust adaptive control for a pump-controlled hydraulic actuator experiencing friction

Wang,

Cai,

Song

et al. 2024

Transactions of the Institute of Measurement and Control

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In this paper, a LuGre model–based robust adaptive control (RAC) approach is presented for a pump-controlled hydraulic actuator. We first decompose the LuGre friction model into its steady-state model and a lumped dynamic part applying the mean value theorem, which are compensated by a feedforward term and a robust adaptive term, respectively. The robust adaptive term also plays a part in mismatched disturbance attenuation. In addition, parametric uncertainties and matched disturbances are handled by σ-modified adaptation laws and a robust control law, respectively. The stability of the closed-loop system is proved via the Lyapunov analysis. The efficacy and robustness of the proposed approach are validated by comparative experiments. Compared with common adaptive friction compensation methods, the proposed method has a simpler structure, less computational burden, better control performance, and stronger robustness. Moreover, since the available information is separated from the LuGre model and acts as a model-based compensation term, the design conservativeness of RAC is effectively reduced.

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Section: Dynamic Modeling Of the Systemmentioning

confidence: 70%

Section: Introductionmentioning

confidence: 99%

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LuGre model–based robust adaptive control for a pump-controlled hydraulic actuator experiencing friction

Wang,

Cai,

Song

et al. 2024

Transactions of the Institute of Measurement and Control

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“…Papers [24], [25], [26] present applications of HGSO in marine vehicle control. It is possible to understand from these works the benefits of applying a well-designed HGSO that makes the control system robust to system uncertainties and with high disturbance rejection.…”

Section: A State Of the Art And Related Workmentioning

confidence: 99%

Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes

et al. 2023

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It is well known that activities in running water or wind and waves expose the Autonomous Surface Vessels (ASVs) to considerable challenges. Under these conditions, it is essential to develop a robust control system that can meet the requirements and ensure the safe and accurate execution of missions. In this context, this paper presents a new topology for controller design based on a combination of the Successive Loop Closure (SLC) method and optimal control. This topology enables the design of robust autopilots based on the Proportional-Integral-Derivative (PID) controller. The controllers are tuned from the solution of the optimal control problem, which aims to minimize the effects of model uncertainties. To verify the effectiveness of the proposed controller, a numerical case study of a natural ASV with 3 Degree of Freedom (DoF) is investigated. The results show that the methodology enabled the tuning of a PID controller capable of dealing with different parametric uncertainties, demonstrating robustness and applicability for different prototype scenarios.INDEX TERMS Robust control design, successive loop closure, optimal control, PID controller, autonomous surface vehicles.

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“…At present, the trajectory tracking control methods of the USV mainly include the following: PID control [3], backstepping control [4,5], fuzzy control [6], adaptive control [7,8], and sliding mode control (SMC) [9][10][11]. In particular, SMC has been proven to be highly robust to uncertainties and disturbances in nonlinear systems, and it is widely used in ship trajectory tracking control.…”

Section: Introductionmentioning

confidence: 99%

Robust Fixed-Time Fault-Tolerant Control for USV with Prescribed Tracking Performance

Li,

Lei

2024

JMSE

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The unmanned surface vessel (USV) is an emerging marine tool with its advantages of automation and intelligence in recent years; the good trajectory tracking performance is an important capability. This paper proposes a novel prescribed performance fixed-time fault-tolerant control scheme for a USV with model parameter uncertainties, unknown external disturbances, and actuator faults, based on an improved fixed-time disturbances observer. Firstly, the proposed observer can not only accurately and quickly estimate and compensate the lumped nonlinearity, including actuator faults, but also reduce the chattering phenomenon by introducing the hyperbolic tangent function. Then, under the framework of prescribed performance control, a prescribed performance fault-tolerant controller is designed based on a nonsingular fixed-time sliding mode surface, which guarantees the transient and steady-state performance of a USV under actuator faults and meets the prescribed tracking performance requirements. In addition, it is proved that the closed-loop control system has fixed-time stability according to Lyapunov’s theory. Finally, upon conducting numerical simulations and comparing the proposed control scheme with the SMC and the finite-time NFTSMC scheme, it is evident that the absolute error tracking performance index of the proposed control scheme is significantly lower, thus indicating its superior accuracy.

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Robust adaptive tracking control of UMSVs under input saturation: A single-parameter learning approach

Cited by 20 publications

References 48 publications

LuGre model–based robust adaptive control for a pump-controlled hydraulic actuator experiencing friction

LuGre model–based robust adaptive control for a pump-controlled hydraulic actuator experiencing friction

Robust and Optimal Control Designed for Autonomous Surface Vessel Prototypes

Robust Fixed-Time Fault-Tolerant Control for USV with Prescribed Tracking Performance

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