Underactuated ship tracking control: Theory and experiments

Pettersen, Kristin Y.; Nijmeijer, Henk

doi:10.1080/00207170110072039

Cited by 231 publications

(131 citation statements)

References 16 publications

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“…respectively. To verify the effectiveness of the controller, numerical simulation analysis was conducted [11].…”

Section: Simulation Analysis On Numerical Cal-culationmentioning

confidence: 99%

Research on the Dynamic Vibration Control of Underwater Robot

Li-ya¹,

Zhao²

2015

TOAUTOCJ

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With mankind's increasing development and utilization of the ocean, underwater robot which can detect underwater environment and autonomously accomplish specific tasks has drawn great attention of researchers. Research was conducted on the kinematic and dynamical control of the underwater robot with six degrees of freedom. Firstly, considering the influences of gravity, buoyancy force, thrust and hydrodynamic force, the kinematic model and dynamical model of the underwater robot were built to describe the complicated underwater behaviors of the robot. Based on this, the dynamic model was simplified and model prediction control of the dynamics was conducted. Comprehensive comparison was also conducted on the results, which showed that model prediction control can reduce the vibration response of the system effectively.

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“…respectively. To verify the effectiveness of the controller, numerical simulation analysis was conducted [11].…”

Section: Simulation Analysis On Numerical Cal-culationmentioning

confidence: 99%

Research on the Dynamic Vibration Control of Underwater Robot

Li-ya¹,

Zhao²

2015

TOAUTOCJ

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“…Exploiting the triangular structure of the error variables coming about due to a transformation to the body frame. combined with an additional transformation, yields exponentially stable vessel dynamics when recursive vector backstepping is used [Petterson and Nijmeijer, 2001]. Both inertial and body fixed Cartesian formulations yield trajectory tracking at the expense of exceedingly complex controller structure.…”

Section: Trajectory Trackingmentioning

confidence: 99%

“…To follow these generated paths many control algorithms continue to resort to cross track and waypoint control [Larson et al, 2006, Larson et al, 2007. More general path following [Bibuli et al, 2007, Bibuli et al, 2008, Breivik, 2010, Aircardi et al, 2001, Breivik and Fossen, 2004 and trajectory tracking [Godhavn, 1996, Toussaint et al, 2000, Petterson and Nijmeijer, 2001, Lefeber et al, 2003, Jiang, 2002, Do et al, 2002a, Do et al, 2002b algorithms have also been developed for vessels with well defined dynamics, but these methods typically involve restrictive assumptions about the dynamic model or the vessel motion (such as "constant speed").…”

Section: Introductionmentioning

confidence: 99%

Modeling, Identification, and Control of an Unmanned Surface Vehicle

Sonnenburg

Woolsey

2013

Journal of Field Robotics

147

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This dissertation addresses the modeling, identification, and control of an automated planing vessel. To provide motion models for trajectory generation and to enable model-based control design for trajectory tracking, several experimentally identified models are compared over a wide range of speed and planing conditions for the Virginia Tech Ribcraft Unmanned Surface Vehicle. The modeling and identification objective is to determine a model which is sufficiently rich to enable effective model-based control design and trajectory optimization, sufficiently simple to allow parameter identification, and sufficiently general to describe a variety of hull forms and actuator configurations. Beginning with a 6 degree of freedom nonlinear dynamic model, several linear steering and speed models are obtained as well as a thruster model.The Ribcraft USV tracks trajectories generated with the selected maneuvering models by using a backstepping trajectory controller. A PD cascade trajectory control law is also developed and the performance of the two controllers is compared using aggressive trajectories. The backstepping control law compares favorably to the PD cascade controller. The backstepping control law is then further modified to account for nonlinear sternward dynamics and for a constant or slowly varying fluid flow. ACKNOWLEDGMENTSThis dissertation is the product of the culmination of years of research and field experimentation that required the collective abilities only found in a group of skilled researchers. There are many people that guided me through the higher level decision-making and advising process as well as the more laborious experimentation and implementation efforts. Without these people I would not have been able to finish a dissertation even approaching this quality.

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“…Articles [2] and [3] have introduced two exponential stable tracking control algorithms using timeinvariant discontinuous feedback and integrator back-stepping technique, respectively. However, one of the common disadvantages of these two methods is that they both require the desired yaw rate always nonzero.…”

Section: Introductionmentioning

confidence: 99%

“…However, one of the common disadvantages of these two methods is that they both require the desired yaw rate always nonzero. That means, the USV system using controller in [2] and [3] can't track strait line. References [4] and [5] use input-output feedback linearization technique to realize the tracking control of USV system, but the performance of the controller depends on the redefined output variables, which makes these methods difficult to be used in real system, although the global gradual stability is proved in [4].…”

Section: Introductionmentioning

confidence: 99%