Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Liu, Sheng; Xu, Chao; Zhang, Lanyong

doi:10.1155/2017/6402012

Cited by 4 publications

(1 citation statement)

References 29 publications

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“…However, by analyzing the real ship's experimental data in [9], the servo system model can not be simply regarded as first-order inertial due to change characteristics of the actual rudder angle. In [10], a two-time scale control structure is developed for marine surface vehicle, where a typical second-order system is adopted to establish the mathematical model of the hydrofoil transmission system. The disadvantage is that the design of the hydrofoil servo controller is complex, which may affect the control accuracy.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Course Control-Based Trajectory Linearization Control for Uncertain Unmanned Surface Vehicle Under Rudder Saturation

et al. 2019

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In the presence of the uncertain system dynamics, unknown time-varying disturbances and rudder saturation, this paper develops a novel robust adaptive course control scheme for unmanned surface vehicle (USV). Considering the characteristics of the rudder servo system, a double loop course controller of the practical and concise is proposed by the enhanced trajectory linearization control (TLC) technology. The key features of the developed controller are that, first, the neural networks are employed to online approximate unmodeled dynamics, and adaptive techniques are adopted to deal with completely unknown external disturbances; second, auxiliary systems that are governed by smooth switching functions, are developed in an unprecedented manner to compensate for the saturation constraints on actuators. The main innovation can be summarized as that the TLC technology is applied to the USV motion control field as a new control algorithm, and the enhanced technology based on traditional TLC not only reduces the number of adjustment parameters but also has simple structure and high robustness. Furthermore, a low frequency learning method improves the applicability of the algorithm. The stability analysis is established using the Lyapunov theory. Simulation results and comparison verify the effectiveness of the proposed strategy.

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Section: Introductionmentioning

confidence: 99%

Adaptive Course Control-Based Trajectory Linearization Control for Uncertain Unmanned Surface Vehicle Under Rudder Saturation

et al. 2019

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A Multi-objective Heuristic Approach for 3D Hydrofoil Design

Casalone

Bonfanti

2022

2022 International Conference on Electrical, Computer, Communications and Mechatronics Engineering (ICECCME)

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Adaptive compound second-order terminal sliding mode control for the longitudinal attitude control of the fully submerged hydrofoil vessel

Liu

Niu

Zhang

et al. 2019

Advances in Mechanical Engineering

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Due to the ever-existing environmental disturbance of ocean wave and nonlinear of the system, it is difficult to obtain a satisfying control performance for the longitudinal attitude and desired height tracking of the fully submerged hydrofoil vessel. To solve such problems, an adaptive compound second-order terminal sliding mode controller is proposed. First, a combination of the complementary sliding mode surface and second-order terminal sliding mode control is introduced. Therefore, the closed system is uniformly ultimately bounded, and the steady-state errors converge to a small neighborhood of equilibrium point. Second, the chattering problem in an actual controller is solved by eliminating the sign function contained in the controller after integration without influencing the stability of the closed-loop system. Besides, a revised adaptive radial basis function neural network is introduced to estimate the derivative of the unknown environmental disturbances without the prior information of the disturbance. Finally, the stability of the system is proved by the Lyapunov stability theory. Numerical experimental results demonstrate that the proposed method possesses fast tracking ability and can decrease the stabilization error and the tracking error simultaneously.

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Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Cited by 4 publications

References 29 publications

Adaptive Course Control-Based Trajectory Linearization Control for Uncertain Unmanned Surface Vehicle Under Rudder Saturation

Adaptive Course Control-Based Trajectory Linearization Control for Uncertain Unmanned Surface Vehicle Under Rudder Saturation

A Multi-objective Heuristic Approach for 3D Hydrofoil Design

Adaptive compound second-order terminal sliding mode control for the longitudinal attitude control of the fully submerged hydrofoil vessel

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