Trajectory-tracking control of an underactuated unmanned surface vehicle based on quasi-infinite horizon model predictive control algorithm

Wang, Hao; Dong, Zaopeng; Qi, Shijie; Zhang, Zhengqi; Zhang, Haisheng

doi:10.1177/01423312221088378

Cited by 10 publications

(5 citation statements)

References 29 publications

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“…The parameter settings of the disturbance observer in this paper are as follows: λ 1 = diag (5,5,5), λ 2 = diag 5 7 , 5 7 , 5 7 , λ 3 = diag 3 5 , 3 5 , 3 5 , λ 4 = diag (6,5,6), γ 1 = 5 7 ,γ 2 = 5 3 . The initial states of the three disturbance observers are set to [0, 0, 0] T .…”

Section: Simulation Resultsmentioning

confidence: 99%

“…To address the issue of trajectory tracking for USVs, researchers both domestically and internationally have put forward several research approaches. These approaches include backstepping control [1,2], dynamic surface control [3,4], model predictive control [5,6], and sliding mode variable structure control [7,8]. In their study, Dong et al [9] introduced a backstepping control technique that utilizes state feedback to address the issue of USV trajectory tracking problems.…”

Section: Introductionmentioning

confidence: 99%

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Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints

Sui,

Zhang,

Liu

et al. 2024

JMSE

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This paper proposes a fixed-time prescribed performance control technique to address the challenge of precise trajectory tracking control for unmanned surface vessels (USVs) in the presence of external time-varying disturbances and input saturation. To begin with, a fixed-time disturbance observer is created to handle the time-varying external interference. The observer can accurately estimate and compensate for the disturbance in a fixed time, which effectively improves the robustness of the system. Furthermore, to guarantee both the transient and steady-state response of the system, we employed a specific control technology that ensures the trajectory tracking error remains within a preset bounded range. Then, combined with the fixed-time disturbance observer, the command filter, the prescribed performance control technology, and the fixed-time stability theory, a fixed-time trajectory tracking control law is designed to make the trajectory tracking error of the system converge in a fixed time. Finally, an experiment was designed to validate the suggested control scheme. The results show that under the same conditions, compared with the nonlinear controller and the finite-time controller, the absolute error tracking index of this paper is the lowest, which means that the presented control scheme has higher accuracy.

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Section: Simulation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints

Sui,

Zhang,

Liu

et al. 2024

JMSE

View full text Add to dashboard Cite

show abstract

“…The networked control systems (NCSs) became a hot area of research due to their practical applications. It enables the remote control in a networked environment [2][3][4][5][6]. With the significant advantages of a lower cost of design and easier maintenance, NCSs are widely used in an unmanned marine vehicle (UMV).…”

Section: Introductionmentioning

confidence: 99%

Adaptive Event-Based Dynamic Output Feedback Control for Unmanned Marine Vehicle Systems under Denial-of-Service Attack

Wang,

Xie,

Gao

et al. 2024

Electronics

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An event-based dynamic output feedback control (DOFC) strategy for unmanned marine vehicle (UMV) systems is considered in this work. Whole UMV systems are composed of a UMV closed-loop system, a land-based control unit and the communication network. To increase the effectiveness of data transmission in the network channel and better enable the control unit against an attack, an adaptive event-triggered mechanism (AETM) is applied. Moreover, a quantizer is installed between the sampler and the control unit. The quantizer further reduces the communication burden. The occurrence of an aperiodic denial-of-service (DoS) attack is considered in the channel from the control unit to the UMV system. A sufficient criterion for ensuring the global exponential stability of a system with an expected H∞ disturbance attenuation index is obtained. The co-design of the dynamic output feedback controller and the AETM is derived. The effectiveness of the proposed approach is verified in the given illustrative simulation. The simulation results indicate that the reduction percentages of the yaw angle amplitudes and yaw velocity accumulative error of the UMV system with the control strategy proposed in this paper are 43.2% and 45.9%, respectively, which are a 0.3% and 5.8% improvement in both metrics compared to the previously published work.

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“…Exploratory simulations were carried out and the results show that the proposed controller is effective and robust for the trajectory tracking of underactuated USVs in the presence of environmental disturbances. The method of designed trajectory tracking for an underactuated unmanned surface vehicle in the presence of ocean disturbances is addressed in [15]. The nonlinear disturbance observer is designed to obtain the estimated values of unknown disturbances in the ocean.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Formation Tracking Control of Multiple Unmanned Surface Vessels Considering Lumped Disturbances and Input Saturation

Sui,

Zhang,

et al. 2023

Electronics

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This paper investigates the challenging problem of fixed-time formation trajectory tracking control for multiple unmanned surface vessels (USVs) affected by uncertain model dynamics, time-varying external ocean disturbances, as well as input saturation. Firstly, an adaptive super-twisting lumped disturbance observer (ASTLDO) is created by integrating high-order sliding mode with observer technology, which can accurately observe and compensate for the complex disturbance of the system within a finite time. Secondly, following the disturbance observer, backstepping technique, fixed-time control, and virtual leader–follower algorithm, the fixed-time formation tracking strategy is implemented. The proposed formation tracking control scheme enables the multiple surface vessels system to converge and maintain a stable desired formation in a fixed time, and the convergence time is independent of the initial states of the system. Furthermore, an adaptive auxiliary system is introduced to mitigate input saturation. In the end, the effectiveness and anti-interference ability of the suggested approach are confirmed by the formation simulation results of three USVs.

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Trajectory-tracking control of an underactuated unmanned surface vehicle based on quasi-infinite horizon model predictive control algorithm

Cited by 10 publications

References 29 publications

Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints

Fixed-Time Trajectory Tracking Control of Fully Actuated Unmanned Surface Vessels with Error Constraints

Adaptive Event-Based Dynamic Output Feedback Control for Unmanned Marine Vehicle Systems under Denial-of-Service Attack

Fixed-Time Formation Tracking Control of Multiple Unmanned Surface Vessels Considering Lumped Disturbances and Input Saturation

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