Robust exponential point stabilization control of the high-speed underactuated unmanned marine vehicle with model asymmetry

Abstract

Point stabilization control of a class of asymmetric underactuated high-speed unmanned marine vehicle is discussed, and a robust exponential stabilization control algorithm is proposed based on homogeneous theory, average system theory, and nonlinear backstepping technology. Firstly, point stabilization control problem of a high-speed underactuated unmanned marine vehicle with model asymmetry is formulated, and then global differential homeomorphism transformation is designed, in order to overcome the difficulties caused by unmanned marine vehicle with model asymmetry. Secondly, the control system is transformed into the standard form of homogeneous interference system by output state variable transformation design and input transformation design. A novel interference function is designed, and then difficulties caused by the higher order velocities in damping coefficients are solved, via homogeneous stability design and homogeneity degree analyzing the expansion of the designed new state variables. Thirdly, by introducing the virtual input of backstepping and the average system theory, point stabilization controller for the underactuated high-speed unmanned marine vehicle is proposed based on homogeneous theory, which could achieve global and periodic time-varying robust exponential stability, and then stability of the point stabilization control algorithm is proved by using homogeneous stability theory and average system stability theory. At last, the effectiveness and accuracy of the control algorithm proposed is verified by semi-physical simulation experiment carried out in our laboratory.

Dynamic positioning for underactuated surface vessel via L1 adaptive backstepping control

“…In this part, the proposed L 1 adaptive backstepping control (proposed L 1 -ABC) algorithm is compared with widely adaptive time-delayed control (WATDC) in Baek et al (2019), L 1 adaptive backstepping control ( L 1 -ABC) in Monte and Lohmann (2013), sliding mode control with parameter estimation (SMC-PE) in Sun et al (2018), robust exponential point stabilization control (REPSC) in Dong et al (2019). The initial conditions are the same as the above subsection.…”

“…The DP technology of USV has received a considerable amount of attentions (Dong et al, 2019; Sarfraz et al, 2017; Xie et al, 2017). Since USVs are always exposed to the unpredictable and inevitable external environment disturbances, their disturbance cancellation problem is crucial in DP control design (Jiang et al, 2020; Panagou and Kyriakopoulos, 2014; Sun et al, 2018).…”

Path following control of an underactuated unmanned marine vehicle with model asymmetry in the presence of ocean current disturbances

“…Furthermore, as $ 2 converges to 0, as proved in the "Stability analysis of intermediate state variables $ 1 , $ 2 , $ 3 " section, and the virtual control input a ' e is also proved to converge to 0, then combing with the second equation of system (13), it is easy to obtain that the UMV path following heading error ' e would also globally and asymptotically converge to 0 as t ! 1.…”

“…Firstly, we discuss the stability and convergence of the intermediate state variables $ 1 , $ 2 , $ 3 designed in equation (13). Substituting the path following control laws designed in equations (15) and (16) into the new error system (14) leads to…”

“…[6][7][8][9][10] In practical implementation, many UMVs are designed of underactuated configurations due to practical considerations, such as reducing weight and/or cost and improving structural strength. [11][12][13] Path following control system is one of the most fundamental and critical control systems during the whole operation process of UMV; after the scheduled task is determined, the UMV needs to accurately sail on the specified path according to the requirements of mission planning, and inaccurate path following may lead to task failure. [14][15][16][17][18] In recent years, more and more studies have been conducted on ocean exploration by UMV, and there are many research studies on the path following control of an underactuated UMV for ocean exploration, as path following control system is one the most important control systems for an UMV.…”