Simultaneous planning and executing trajectory tracking control for underactuated unmanned surface vehicles from theory to practice

Qu, Yang; Cai, Lilong

doi:10.1016/j.oceaneng.2023.113665

Cited by 7 publications

(3 citation statements)

References 77 publications

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“…A sine-cosine trajectory described by p d = [0.5 t, 10 sin 0.02 t + 5 cos 0.01 t] T , with the starting point p 0 = [−2 5] T for Kambara and XX AUV, was selected for the second test. The same gain sets as previously, i.e., (42), (43), respectively, were assumed.…”

Section: Vehicles and Test Conditionsmentioning

confidence: 99%

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Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

Herman

2023

Applied Sciences

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This paper considers a trajectory-tracking control algorithm for underactuated marine vehicles moving horizontally in which the current in the North-East-Down frame is constant. This algorithm is a modification of a control scheme based on the input-output feedback linearization method for which the application condition is that the vehicle is symmetric with respect to the left and right sides. The proposed control scheme can be applied to a fully asymmetric model, and, therefore, the geometric center can be different from the center of mass in both the longitudinal and lateral directions. A velocity transformation to generalized vehicle equations of motion was used to develop a suitable controller. Theoretical considerations were supported by simulation tests performed for a model with 3 degrees of freedom, in which the performance of the proposed algorithm was compared with that of the original algorithm and the selected control scheme based on a combination of backstepping and integral sliding mode control approaches.

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Section: Vehicles and Test Conditionsmentioning

confidence: 99%

“…Controlling trajectory tracking by developing an accurate control method in a newly defined polar coordinate system moving along a path (PMPCS) was proposed in [42]. The application of neural networks in control strategies was reported, for example, in [43,44].…”

Section: Introductionmentioning

confidence: 99%

Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

Herman

2023

Applied Sciences

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“…In both papers, it was assumed that the off-diagonal terms of the inertial matrices were small compared to the main diagonal terms and could, therefore, be neglected. The method proposed in [42] was based on a model transformation that allowed the derivation of control models for the radius-track, yaw-track and sway-track in a newly defined polar coordinate system moving along a path (PMPCS). If the control method has been experimentally verified, it can be concluded that it guarantees satisfactory performance of the controller (with the introduced limitations and assumptions) and its usefulness is obvious.…”

Section: Introductionmentioning

confidence: 99%

Model Simplification for Asymmetric Marine Vehicles in Horizontal Motion—Verification of Selected Tracking Control Algorithms

Herman

2024

Electronics

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This paper addresses a trajectory tracking control algorithm for underactuated marine vehicles moving horizontally in which the current in the North–East–Down frame is constant. This algorithm is a modification of a control scheme based on the input-output feedback linearization method, for which the application condition was that the vehicle was symmetric with respect to the left and right sides. The proposed control scheme can be applied to a fully asymmetric model, and, therefore, the geometric center can be different from the center of mass in both the longitudinal and lateral directions. A velocity transformation to generalized vehicle equations of motion was used to develop a suitable controller. Theoretical considerations were supported by simulation tests performed for a model with 3 degrees of freedom, in which the performance of the proposed algorithm was compared with that of the original algorithm and the selected control scheme based on a combination of backstepping and integral sliding mode control approaches.

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Immersive virtual simulation system design for the guidance, navigation and control of unmanned surface vehicles

Huang

Chen

et al. 2023

Ocean Engineering

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Simultaneous planning and executing trajectory tracking control for underactuated unmanned surface vehicles from theory to practice

Cited by 7 publications

References 77 publications

Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

Model Simplification for Asymmetric Marine Vehicles in Horizontal Motion—Verification of Selected Tracking Control Algorithms

Immersive virtual simulation system design for the guidance, navigation and control of unmanned surface vehicles

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