Robust smooth control for global uniform asymptotic stabilization of underactuated surface vessels with unknown model parameters

Abstract

This paper investigates how to design controllers to stabilize the underactuated surface vessel to desired constant location and orientation with vanishing velocities. The first control law is designed as a smooth function of position and orientation errors without using model parameters, where a gain is made time‐varying to get over the nonholonomic constraint on model. Skew‐symmetric and damping terms in model are exploited to help construct two particular Lyapunov functions, and Barbalat's lemma are combined to verify the global uniform asymptotic convergence of errors and velocities. Then, the second and the third control laws are devised as the forms of the first controller plus velocity feedbacks and can achieve the same stability as the first one but have a weaker gain condition. All the three controllers are robust to model parameters due to their absence in controllers and only require three model parameters' upper/lower bounds, decreasing the identification workload greatly. Moreover, they are the first smooth ones capable of achieving global uniform asymptotic full‐state stabilization control of vessel with unknown model parameters. Effectiveness of the proposed controllers is demonstrated by numerical simulations.

Adaptive nonlinear information fusion preview control for autonomous surface vessels subject to measurement noises and unknown input saturations

“…In practice, the accurate hydrodynamics coefficients of the ASV are difficult to obtain accurately. Inspired by [52], the matrices contained in system dynamics (7) can be divided into nominal part (•) * and bias part Δ(•), which describe the nominal value obtained from the tower tank experiment or the computational fluid dynamics analysis, the difference between the real value and the nominal value, respectively, that is,…”

“…and ocean exploration projects [5][6][7][8]. So far, there have been many valuable research results related to the trajectory tracking of ASV, such as predictive control [9], feedback linearization method [10], dynamic surface design [11], and backstepping control [12].…”

Adaptive NN state error PCH trajectory tracking control for unmanned surface vessel with uncertainties and input saturation

“…In a previous paper [4], the author discussed prescribed performance control approaches application in marine surface vessel. In Xie et al [5], three robust control laws are designed to control USVs with unknown parameters. In Deng et al [6], an event-triggered tracking control scheme based on the minimum learning parameters technique and the DSC technique is proposed for trajectory tracking of the surface vessel.…”

On the Barbalat lemma extension for the generalized conformable fractional integrals: Application to adaptive observer design

“…The works given in previous studies [32][33][34][35][36] employed the classical integer-order Barbalat lemma to show their primary result, and the whole works dealt with integer-order nonlinear systems as a comparison. In our situation, however, the Barbalat lemma has been fully generalized to the case of generic conformable FOSs.…”

“…Indeed, extending these results to the general situation of conformable fractional orders will be an intriguing future research project. Note that the aforementioned interpretation applies to a large number of published studies; however, in this case, we have only compared the works [32][33][34][35][36]. The key point is to explain how our recommended work differs from other works.…”