Velocity-based tuning of degree of homogeneity for finite-time stabilization and fault tolerant control of an ROV in the presence of thruster saturation and rate limits

Hosseinnajad, Alireza; Loueipour, Mehdi

doi:10.1007/s11071-022-08222-8

Cited by 7 publications

(1 citation statement)

References 62 publications

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“…In some application scenarios, such as spacecraft docking, target interception, robot and USVs tracking tasks, it is highly desirable to achieve stability within a short time. Thus, the finite-time and fixed-time control play a vital role in this regard [21,22,23,24,25,26]. Nevertheless, with the increasing requirement for time constraints, it is no longer sufficient for these solutions to cope with the corresponding demands, which, as analyzed in [27].…”

Section: Introductionmentioning

confidence: 99%

Observer-based practical predefined-time control for unmanned surface vehicles with guaranteed performance: A novel integral sliding mode approach

Cai,

Zhao,

Feng

et al. 2024

Preprint

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This paper investigates practical predefined-time trajectory tracking control problem with guaranteed performance for unmanned surface vehicles (USVs) suffering from dynamic uncertainties and unknown disturbances. A observer-based practical predefined-time integral sliding mode control scheme is proposed. Salient features are as follows. First, by devising a practical predefined-time extended state observer, lumped disturbances arising from uncertainties and external disturbances can be exactly identified within the expected predefined-time, in conjunction with the fuzzy logic systems, and thereby improving the disturbance rejection property of USVs. Then, a nonsingular predefined-time integral sliding mode (NPTISM) surface is proposed using a class of time-dependent scaling function, and the NPTISM surface has only the sliding phase, while the reaching phase is eliminated. Besides, a novel-type prescribed performance function is introduced into the controller to characterize transient and steady-state performances, simultaneously. A rigorous stability analysis guarantees that practical predefined-time stability of the system, and the upper bound of settling time can be precisely set by only a single parameter in advance. Finally, the simulation results and comparisons are carried out to validate the proposal.

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Section: Introductionmentioning

confidence: 99%

Observer-based practical predefined-time control for unmanned surface vehicles with guaranteed performance: A novel integral sliding mode approach

Cai,

Zhao,

Feng

et al. 2024

Preprint

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Barrier Lyapunov Function-based Backstepping Controller Design for Path Tracking of Autonomous Vehicles

Hosseinnajad,

Mohajer,

Nahavandi

2024

J Intell Robot Syst

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This research proposes a novel BLF-based backstepping controller for path tracking of Autonomous Vehicles (AVs) with unknown dynamics and unmeasurable states. The proposed framework includes: (1) forming geometric-dynamic model of the vehicle by combining the dynamics of the vehicle with the kinematics of the visual measurement system, (2) designing a fixed-time Extended-State Observer (ESO) to estimate the unknown dynamics and unmeasurable states, and (3) introducing a BLF-based controller for faster response and more accurate path tracking compared to previous BLF-based controllers. Besides the novelty of the BLF-based controller, by transforming the closed-loop error dynamics into a unified proportional-derivative (PD)-type structure, an intuitive criterion is proposed to provide a systematic procedure for comparing BLF-based controllers. A combined BLF is further proposed based on this performance criterion to eliminate the sensitivity of BLF-based controllers to the magnitude of the constraint. The stability analysis is performed for the fixed-time ESO and the closed-loop control system. MATLAB/CarSim co-simulation is conducted to evaluate the performance of the proposed control system. The outcomes of the work show that the closed-loop control system is exponentially stable. In addition, it can provide a faster response and result in more accurate path tracking compared to previous BLF-based control systems.

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Nonlinear trajectory tracking control of underactuated AUVs using the state-dependent Riccati equation (SDRE) with parameter perturbation

Gao

Huang

et al. 2023

Nonlinear Dyn

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Velocity-based tuning of degree of homogeneity for finite-time stabilization and fault tolerant control of an ROV in the presence of thruster saturation and rate limits

Cited by 7 publications

References 62 publications

Observer-based practical predefined-time control for unmanned surface vehicles with guaranteed performance: A novel integral sliding mode approach

Observer-based practical predefined-time control for unmanned surface vehicles with guaranteed performance: A novel integral sliding mode approach

Barrier Lyapunov Function-based Backstepping Controller Design for Path Tracking of Autonomous Vehicles

Nonlinear trajectory tracking control of underactuated AUVs using the state-dependent Riccati equation (SDRE) with parameter perturbation

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