Trajectory Tracking of Underactuated Surface Vessels: A Linear Algebra Approach

Serrano, Mario Emanuel; Scaglia, Gustavo; Godoy, Sebastian Alejandro; Mut, Vicente; Ortiz, Oscar A.

doi:10.1109/tcst.2013.2271505

Cited by 115 publications

(71 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…An adaptive supervisory control algorithm that combines a switching method with an iterative Lyapunov technique is proposed in [24]; a stable adaptive neural network controller combined with a backstepping technique and Lyapunov theory is designed in [25]; a state feedback adaptive backstepping fuzzy logic controller is addressed in [27]; a hybrid sliding-mode control strategy based on a bioinspired model is developed in [24]; a suboptimal robust control methodology is presented in [30]; and a hybrid control algorithm based on neural network and dynamic surface control is presented in both [28] and [33]. Moreover, some linear algebra and other methodologies are formulated in [34][35][36][37][38][39][40][41][42]. Based on searching for conditions under which a system of linear equations has an exact solution, linear algebra methodologies are proposed in both [34] and [35].…”

Section: Introductionmentioning

confidence: 99%

“…Moreover, some linear algebra and other methodologies are formulated in [34][35][36][37][38][39][40][41][42]. Based on searching for conditions under which a system of linear equations has an exact solution, linear algebra methodologies are proposed in both [34] and [35]. A global k-exponential convergence tracking controller is designed in [37]; an output feedback controller combined with a state feedback controller and a reducedorder observer is presented in [39]; a novel finite-time switching trajectory-tracking controller is developed in [41]; and a nonlinear predictive control technique is proposed in [42] for trajectory-tracking control of an USV with state and input constraints.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

Dong

Wan

Liu

et al. 2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

Based on an integral backstepping approach, a trajectorytracking control algorithm is proposed for an underactuated unmanned marine vehicle (UMV) sailing in the presence of ocean-current disturbance. Taking into consideration the UMV model's fore/aft asymmetry, a nonlinear threedegree-of-freedom (3DOF) underactuated dynamic model is established for the horizontal plane. First, trajectorytracking differences between controllers designed based on symmetric and asymmetric models of the UMV are discussed. In order to explicitly study the effect of oceancurrent interference on the trajectory-tracking controller, the ocean current is integrated into the kinematic and dynamic models of the UMV. Detailed descriptions of distinct trajectory-tracking control performances in the presence of different ocean-current velocities and direction angles are presented. The well-known persistent exciting (PE) condition is completely released in the designed trajectory-tracking controller. A mild integral item of trajectory tracking error is merged into the control law, and global stability analysis of the UMV system is carried out using Lyapunov theory and Barbalat's Lemma. Simulation experiments in the semi-physical simulation platform are implemented to confirm the effectiveness and superiority of the excogitated control algorithm.

show abstract

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

Dong

Wan

Liu

et al. 2016

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

“…In [10], the neural network feedback-feedforward compensator is used to for estimation of the uncertainty nonlinear parts of the system where a single layer neural network is used to obtain the adaptive signal online. A trajectory tracking controller design for an underactuated surface ship has been given in [11]. The control system design is based on a linear algebra method and numerical method.…”

Section: Introductionmentioning

confidence: 99%

Controller Design for Tracking Control of an Under-Actuated Surface Ship

Ngongi¹,

Du²

2015

IJCTE

View full text Add to dashboard Cite

Abstract-In this paper an output feedback controller for tracking control of surface ships based on Euler-Lagrange equations has been proposed. It has been assumed that a surface ship is moving in a horizontal plane and under-actuated in sway direction. The change of coordinate's method is applied to overcome the third order component that arises in the Lyapunov function derivatives due to Coriolis and centripetal forces term. The design of the controller is based on the backstepping control technique and Lyapunov stability theory. Firstly, the observer is derived using the change of coordinate method. Next, backstepping control technique is employed to derive the control law. Finally, a global asymptotic convergence is proven using Lyapunov stability theorems. Simulations are provided to demonstrate the performance of the designed controller and prove tracking error of the controller convergence. Index Terms-Change of coordinates, euler-lagrange equations, output feedback controller, under-actuated surface ship, third order component, backstepping control technique. I. INTRODUCTIONA conventional ship considers the motion in surge (forward), sway (sideways), and yaw (heading). Normally, we have surge and sway control forces and yaw control moment available for navigating the ship. However, this assumption is not practical for all ships. For example, some ships are either equipped with two autonomous aft-thrusters or with one main aft-thruster and a rudder, but there is no any bow or side thrusters, like, for example, many supply ships. As a result, there is control force in the sway axis. In this paper, we deal with the tracking control for ships with only surge (x-axis) and yaw (z-axis) control moment available. Since we need to control 3DOF (three degrees of freedom) with only two inputs available, thus we are dealing with an under-actuated problem. Since we want to control the ship motion in the horizontal plane, therefore, we neglect the dynamics related to the motion in heave, roll, and pitch [1], [2].The tracking control of surface ships is compulsory in order to achieve offshore exploitation, activities and various applications such as the drilling, pipe laying, diving support, etc. [3]. Several control strategies have been proposed for surface ships such as global uniform asymptotic stabilization of an under-actuated surface vessel was presented [4]. A Robust adaptive ship autopilot with wave filter and integral action was proposed in [5]. Sliding mode control was presented and experimentally implemented for trajectory tracking of under-actuated autonomous surface vessels [6]. An approximation based control was developed to handle model uncertainties and unknown disturbances for fully actuated ocean surface vessels [7]. Another approach to design a global tracking controller for under-actuated ships with the sway axis unactuated has been introduced [8]. In the proposed work, the assumption that the mass and damping matrices are diagonal is not used as required globally to track the reference trajectory. ...

show abstract

“…The controller is usually designed to achieve the two tasks. The first task is a tracking controller designed to make the controlled plan follow a reference trajectory [14,21]. The second task is an anti-swing controller [2,23].…”

Section: Introductionmentioning

confidence: 99%

Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot

Meng

et al. 2015

IFS

View full text Add to dashboard Cite

Abstract. This paper describes a hybrid anti-swing control scheme of an inspection robot in tunnels for power transmission cables. The hybrid control scheme consists of velocity switching and fuzzy logic control, so that the robot can be operated smoothly without causing excessive swings in acceleration or deceleration motion. In order to ensure control system robustness for greatest movement in the tunnel, fuzzy logic control is used for horizontal anti-swing control. Velocity switching is adopted for incline anti-swing control, in order to obtain sufficient damping as well as a fast response. The stability of the hybrid system has been analyzed. The experimental results present the practicability and effectiveness of the proposed method.

show abstract

Trajectory Tracking of Underactuated Surface Vessels: A Linear Algebra Approach

Cited by 115 publications

References 18 publications

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

Controller Design for Tracking Control of an Under-Actuated Surface Ship

Hybrid velocity switching and fuzzy logic control scheme for cable tunnel inspection robot

Contact Info

Product

Resources

About