Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

Fu, Huixuan; Yao, Wenjing; Cajo, Ricardo; Zhao, Shiquan

doi:10.3390/jmse11101874

Cited by 3 publications

(3 citation statements)

References 37 publications

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“…To address this, several advanced control techniques have been employed in recent studies. These studies, referenced as [30][31][32][33][34], have explored different control strategies to enhance the tracking capabilities of ASVs in terms of accuracy, stability, and adaptability, enabling them to fulfill their tracking responsibilities effectively. Transient (convergence rate, overshoot, and undershoot) and steady-state performances are important performance metrics that should be considered for control systems.…”

Section: Introductionmentioning

confidence: 99%

A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance

Wang,

Ouyang,

Wang

et al. 2024

JMSE

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In this paper, a finite-time, active fault-tolerant control (AFTC) scheme is proposed for a class of autonomous surface vehicles (ASVs) with component faults. The designed AFTC framework is based on an integrated design of fault detection (FD), fault estimation (FE), and controller reconfiguration. First, a nominal controller based on the Barrier Lyapunov function is presented, which guarantees that the tracking error converges to the predefined performance constraints within a settling time. Then, a performance-based monitoring function with low complexity is designed to supervise the tracking behaviors and detect the fault. Different from existing results where the fault is bounded by a known scalar, the FE in this study is implemented by a finite-time estimator without requiring any prioir information of fault. Furthermore, under the proposed finite-time AFTC scheme, both the transient and steady-state performance of the ASV can be guaranteed regardless of the occurrence of faults. Finally, a simulation example on CyberShip II is given to confirm the effectiveness of the proposed AFTC method.

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Section: Introductionmentioning

confidence: 99%

A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance

Wang,

Ouyang,

Wang

et al. 2024

JMSE

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show abstract

“…Although each unmanned system can handle tasks, its capacity limits its ability to deal with more complex tasks. Therefore, a homogeneous or heterogeneous system is more effective than a single unmanned system in completing intricate tasks [9][10][11].…”

Section: Introductionmentioning

confidence: 99%

Formation Control for UAV-USVs Heterogeneous System with Collision Avoidance Performance

Huang,

Li,

Ning

et al. 2023

JMSE

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This paper investigates the cooperative formation trajectory tracking problem for heterogeneous unmanned aerial vehicle (UAV) and multiple unmanned surface vessel (USV) systems with collision avoidance performance. Firstly, a formation control protocol based on extended state observer (ESO) is proposed to ensure that the UAV and the USVs track the target trajectory simultaneously in the XY plane. Then, the collision avoidance control strategy of USV formation based on artificial potential field (APF) theory is designed. Specifically, the APF method is improved by reconstructing the repulsive potential field to make the collision avoidance action of USVs more in line with the requirements of International Regulations for Preventing Collisions at Sea (COLREGs). Following that, an altitude controller for the UAV is proposed to maintain the cooperative formation of the heterogeneous systems. Based on the input-to-state stability, the stability of the proposed control structure is proven, and all the signals in the closed-loop system are ultimately bounded. Finally, a simulation study is provided to show the efficacy of the proposed strategy.

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“…A state observer scheme is proposed in [14] for uninterruptible power supply applications and it is compared to classical approaches like with Kalman filters. The study presented in [15] shows an approach to deal with ocean environment disturbances by designing a nonlinear disturbance observer for unmanned surface vehicles to obtain safe and effective motion control performance. Lastly, in work [7], a Dual-Rate Extended Kalman filter is designed to obtain fast vehicle state estimation in the problem of real-time lane-keeping control for autonomous ground vehicles.…”

Section: Introductionmentioning

confidence: 99%

Fast Nonlinear Predictive Control Using Classical and Parallel Wiener Models: A Comparison for a Neutralization Reactor Process

Nebeluk,

Ławryńczuk

2023

Sensors

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The Wiener model, composed of a linear dynamical block and a nonlinear static one connected in series, is frequently used for prediction in Model Predictive Control (MPC) algorithms. The parallel structure is an extension of the classical Wiener model; it is expected to offer better modeling accuracy and increase the MPC control quality. This work discusses the benefits of using the parallel Wiener model in MPC. It has three objectives. Firstly, it describes a fast MPC algorithm in which parallel Wiener models are used for online prediction. In the presented approach, sophisticated trajectory linearization is performed online, which leads to computationally fast quadratic optimization. The second objective of this work is to study the influence of the model structure on modeling accuracy. The well-known neutralization benchmark process is considered. It is shown that the parallel Wiener models in the open-loop mode generate significantly fewer errors than the classical structure. This work’s third objective is to validate the efficiency of parallel Wiener models in closed-loop MPC. For the neutralization process, it is demonstrated that parallel models demonstrate better control quality using various indicators, but the difference between the classical and parallel models is not significant.

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Trajectory Tracking Predictive Control for Unmanned Surface Vehicles with Improved Nonlinear Disturbance Observer

Cited by 3 publications

References 37 publications

A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance

A Novel, Finite-Time, Active Fault-Tolerant Control Framework for Autonomous Surface Vehicle with Guaranteed Performance

Formation Control for UAV-USVs Heterogeneous System with Collision Avoidance Performance

Fast Nonlinear Predictive Control Using Classical and Parallel Wiener Models: A Comparison for a Neutralization Reactor Process

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