Trajectory tracking of under-actuated marine vehicles

Paliotta, Claudio; Lefeber, Erjen; Pettersen, Kristin Y.

doi:10.1109/cdc.2016.7799139

Cited by 12 publications

(19 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…However, the desired acceleration is only used to modify some trajectories in the BC‐MPC search space, and will hence not constrain the algorithm to choose a trajectory based on . One could employ other schemes, (e.g., Paliotta, ) which guarantees convergence to curved trajectories. This does, however, increase the complexity by depending on a detailed 3DOF model of the vessel while also employing a feedback‐linearizing controller to control the vessel.…”

Section: The Bc‐mpc Algorithmmentioning

confidence: 99%

The branching‐course model predictive control algorithm for maritime collision avoidance

Eriksen

Breivik

Wilthil

et al. 2019

Journal of Field Robotics

View full text Add to dashboard Cite

This article presents a new algorithm for short-term maritime collision avoidance (COLAV) named the branching-course model predictive control (BC-MPC) algorithm. The algorithm is designed to be robust with respect to noise on obstacle estimates, which is a significant source of disturbance when using exteroceptive sensors such as, for example, radars for obstacle detection and tracking. Exteroceptive sensors do not require vesselto-vessel communication, which enables COLAV toward vessels not equipped with, for example, automatic identification system transponders, in addition to increasing the robustness with respect to faulty information which may be provided by other vessels. The BC-MPC algorithm is compliant with Rules 8, 13, and 17 of the International Regulations for Preventing Collisions at Sea (COLREGs), and favors maneuvers following Rules 14 and 15. Specifically, the algorithm can ignore the specific maneuvering regulations of Rules 14 and 15, which may be required in situations where Rule 17 revokes a stand-on obligation. The algorithm is experimentally validated in several fullscale experiments in the Trondheimsfjord in 2017 using a radar-based system for obstacle detection and tracking. To complement the experimental results, we present simulations where the BC-MPC algorithm is tested in more complex scenarios involving multiple obstacles and several simultaneously active COLREGs rules. The COLAV experiments and simulations show good performance. K E Y W O R D S control, marine robotics, planning

show abstract

Section: The Bc‐mpc Algorithmmentioning

confidence: 99%

The branching‐course model predictive control algorithm for maritime collision avoidance

Eriksen

Breivik

Wilthil

et al. 2019

Journal of Field Robotics

View full text Add to dashboard Cite

show abstract

“…Having a linear external dynamics facilitates the control design, and one of our motivations for this is that it is then possible to apply well developed formation control strategies for multi-agent systems consisting of under-actuated marine vehicles, a topic within which there exists very few results. One example of the usefulness of this approach is given in [40], where we have presented a synchronization strategy for marine vehicles based on the hand position point and the input-output feedback linearizing controller presented in [41]. The price to pay for a linear external dynamics is a nonlinear internal dynamics which is affected by the states of the external dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…We show also that for the case of straight line paths we have almostglobal asymptotic stability (AGAS) of the closed-loop system. Preliminary results have been presented in [41], while we here extend these from straight line to generic paths and include a new strategy for the path following control problem. Finally, we present experimental results obtained from a sea trial in which we have tested the hand position based path following control strategy for straight line paths.…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking and Path Following for Underactuated Marine Vehicles

Paliotta

Lefeber

Pettersen

et al. 2019

IEEE Trans. Contr. Syst. Technol.

Self Cite

137

View full text Add to dashboard Cite

DOI to the publisher's website. • The final author version and the galley proof are versions of the publication after peer review. • The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publication General rights Copyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights. • Users may download and print one copy of any publication from the public portal for the purpose of private study or research. • You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal. If the publication is distributed under the terms of Article 25fa of the Dutch Copyright Act, indicated by the "Taverne" license above, please follow below link for the End User Agreement:

show abstract

“…Specifically, the sway dynamics is not analysed and the existence and boundedness of the control input is not guaranteed [24,25,29]. At the exception of [32], where a different approach to the trajectory tracking and path following problems is proposed. The approach presented in [32] is based on a different choice of the output of the system, the so called hand position point.…”

Section: Introductionmentioning

confidence: 99%

“…At the exception of [32], where a different approach to the trajectory tracking and path following problems is proposed. The approach presented in [32] is based on a different choice of the output of the system, the so called hand position point. Then the authors apply an input-output linearizing controller in order to make the new output converge to the desired path.…”

Section: Introductionmentioning

confidence: 99%

Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach

et al. 2019

Self Cite

View full text Add to dashboard Cite

In this paper a solution to the problem of following a curved path in the presence of a constant unknown ocean current disturbance is presented. We introduce a path variable that represents the curvilinear abscissa on the path which is used to propagate the path-tangential reference frame. The proposed dynamic update law of the path variable is non singular and the guidance law is designed such that the vessel can reject constant unknown ocean currents by using an ocean current observer. It is shown that the closed-loop system composed of the guidance law, controller and observer provides globally asymptotically stable and locally exponentially stable path following errors. The sway velocity dynamics is analyzed and, under adequate hypothesis on the path curvature, it is shown that the dynamics are well behaved and that the guidance law to exist. Simulations are presented to verify the theoretical findings.

show abstract

Trajectory tracking of under-actuated marine vehicles

Cited by 12 publications

References 15 publications

The branching‐course model predictive control algorithm for maritime collision avoidance

The branching‐course model predictive control algorithm for maritime collision avoidance

Trajectory Tracking and Path Following for Underactuated Marine Vehicles

Observer based path following for underactuated marine vessels in the presence of ocean currents: A global approach

Contact Info

Product

Resources

About