Robust dynamic positioning of ships with disturbances under input saturation

Du, Jialu; Hu, Xin; Krstić, Miroslav; Sun, Yuqing

doi:10.1016/j.automatica.2016.06.020

Cited by 358 publications

(177 citation statements)

References 21 publications

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“…Meanwhile, in order to prove the superiority of the control strategy proposed in this paper, compare it with the [21] (Yu, et al, 2012) that deals with unknown dynamics and disturbances only with the robustness of sliding mode. For this purpose, the underactuated USV (length of 1.255 m, breadth of 0.29 m, mass of 23.8 kg) is selected as the same as that in [42][43][44].…”

Section: Numerical Simulationsmentioning

confidence: 99%

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Wang

Fan

et al. 2018

Applied Sciences

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This paper proposes an adaptive trajectory tracking control strategy for underactuated unmanned surface vehicles subject to unknown dynamics and time-varing external disturbances. In short, the goal of this paper is to provide a control strategy that allows an underactuated unmanned surface vehicle to track a time dependent trajectory. First, a first-order sliding surface is introduced into the design of surge control law to converge to surge tracking error, and then a second-order sliding surface is hired to design yaw control law to deal with sway motion tracking error. Meanwhile, neural network minimum learning parameter method, which has a smaller amount of computation than a multilayer neural network, is employed to preserve the control law robustness against unknown dynamics and time-varing disturbances induced by wind, waves and ocean currents. Furthermore, much effort is made to obtain uniform ultimate bounded stability for the closed-loop control system. Finally, the numerical simulation experiments of straight line and circle trajectory tracking have been given to prove the correctness and feasibility of the proposed control strategy.

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Section: Numerical Simulationsmentioning

confidence: 99%

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Wang

Fan

et al. 2018

Applied Sciences

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“…The rest three cases are as follows: |ξ(t)| ≥ ξ 0 and |η(t)| < η 0 , |ξ(t)| < ξ 0 and |η(t)| ≥ η 0 , and |ξ(t)| < ξ 0 and |η(t)| < η 0 can be proven easily according to the article. 50 In this paper, they are omitted for the sake of brevity.…”

Section: Assuming the Bounded Initial Conditions Of State Variablesmentioning

confidence: 99%

Robust adaptive constrained boundary control for a suspension cable system of a helicopter

Ren

Shi

2017

Adaptive Control & Signal

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SummaryIn this article, the problems of modeling and controlling are investigated for a suspension cable system of a helicopter with input saturation, system parameter uncertainties, and external disturbances by using the boundary control method.In accordance with the Hamilton's principle, the model of the suspension cable system of a helicopter is established by using a set of partial differential and ordinary differential equations. Considering nonsymmetric saturation constraint, the auxiliary systems are designed to handle with the effect of input saturation. Considering Lyapunov's direct method and the designed auxiliary systems, two robust adaptive boundary controllers are provided by the actuators at the helicopter and the box. Under the proposed controllers, the error between the bottom payload and the target location and the vibration range are uniformly ultimately bounded. Moreover, they will converge to a small neighborhood of zero by selecting the suitable parameters. Meanwhile, to guarantee the validity of the proposed adaptive boundary control laws, some sufficient conditions are raised. Simulation results are provided to verify that the effectiveness of the designed controllers in this paper.

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“…The legend "Method A" means the method in [14]; the legend "Method B" means the method without state and input saturation constraints.…”

Section: Mathematical Problems In Engineeringmentioning

confidence: 99%

“…For instance, safety limit of a hovercraft shows if speed exceeds 40 knots, turning is not allowed; if speed is in the range of 25 knots∼35 knots, drift angle needs to be within the limits of 7.5 ∘ ∼2 ∘ . Besides, from a practical viewpoint, the control input is restrained to prevent the actuators from going beyond their natural capabilities [14,15]. And radical basis function neural 2 Mathematical Problems in Engineering networks (RBFNNs) are used to stabilize complex nonlinear dynamic systems and deal with model uncertainties [16][17][18].…”

Section: Introductionmentioning

confidence: 99%

Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

Gao

Wang

2017

Mathematical Problems in Engineering

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This paper develops a safety-guaranteed trajectory tracking controller for hovercraft by using a safety-guaranteed auxiliary dynamic system, an integral sliding mode control, and an adaptive neural network method. The safety-guaranteed auxiliary dynamic system is designed to implement system state and input constraints. By considering the relationship of velocity and resistance hump, the velocity of hovercraft is constrained to eliminate the effect of resistance hump and obtain better stability. And the safety limit of drift angle is well performed to guarantee the light safe maneuvers of hovercraft tracking with high velocities. In view of the natural capabilities of actuators, the control input is constrained. High nonlinearity and model uncertainties of hovercraft are approximated by employing adaptive radical basis function neural networks. The proposed controller guarantees the boundedness of all the closed-loop signals. Specifically, the tracking errors are uniformly ultimately bounded. Numerical simulations are implemented to demonstrate the efficacy of the designed controller.

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Robust dynamic positioning of ships with disturbances under input saturation

Cited by 358 publications

References 21 publications

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

Robust adaptive constrained boundary control for a suspension cable system of a helicopter

Safety-Guaranteed Trajectory Tracking Control for the Underactuated Hovercraft with State and Input Constraints

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