Journal ArticleDOI
Trajectory planning and tracking control for underactuated unmanned surface vessels
Yulei Liao,Yu-min Su,Jian Cao +2 more
TLDR
In this paper, a nonlinear state feedback controller was proposed based on backstepping technique and Lyapunov's direct method, which ensures that the solutions of closed loop system have the ultimate boundedness property.Abstract:
The trajectory planning and tracking control for an underactuated unmanned surface vessel (USV) were addressed. The reference trajectory was generated by a virtual USV, and the error equation of trajectory tracking for underactuated USV was obtained, which transformed the tracking and stabilization problem of underactuated USV into the stabilization problem of the trajectory tracking error equation. A nonlinear state feedback controller was proposed based on backstepping technique and Lyapunov’s direct method. By means of Lyapunov analysis, it is proved that the proposed controller ensures that the solutions of closed loop system have the ultimate boundedness property. Numerical simulation results are presented to validate the effectiveness and robustness of the proposed controller.read more
Citations
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Journal ArticleDOI
Trajectory tracking control of underactuated USV based on modified backstepping approach
TL;DR: In this paper, a state feedback based backstepping control algorithm was proposed to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane.
Journal ArticleDOI
Finite-time trajectory tracking control of unmanned surface vessel with error constraints and input saturations
TL;DR: A finite-time trajectory tracking control for unmanned surface vessel with error constraints and input saturations is proposed, which takes the limited actuator capability into account and employs the hyperbolic tangent function to address the saturation problem.
Journal ArticleDOI
Layered berthing method and experiment of unmanned surface vehicle based on multiple constraints analysis
TL;DR: An improved adaptive fuzzy PID control method is proposed to solve the control problem of USV, which is influenced by weak maneuver, large disturbance, limited water area and strong shore effect, and the comparative test of berthing simulation verifies the superiority of the proposed control method.
Journal ArticleDOI
Trajectory tracking control for underactuated unmanned surface vehicles with dynamic uncertainties
TL;DR: In this article, a backstepping adaptive sliding mode controller was proposed based on back stepping technology and method of dynamic slide model control, which ensured that the solutions of closed loop system had the ultimate boundedness property.
Journal ArticleDOI
A hybrid coordination controller for speed and heading control of underactuated unmanned surface vehicles system
TL;DR: Simulation results confirm the validity and stability of control algorithm, and the results show that the proposed algorithm can quickly track signals with energy optimization.
References
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Journal ArticleDOI
Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty
TL;DR: It is demonstrated how adaptive switching supervisory control can be combined with a nonlinear Lyapunov-based tracking control law to solve the problem of global boundedness and convergence of the position tracking error to a neighborhood of the origin that can be made arbitrarily small.
Journal ArticleDOI
Tracking control of an underactuated ship
TL;DR: A simple state-feedback control law is developed and proved to render the tracking error dynamics globally K- exponentially stable.
Journal ArticleDOI
Sliding-Mode Tracking Control of Surface Vessels
TL;DR: A sliding mode control law is presented and experimentally implemented for trajectory tracking of underactuated autonomous surface vessels and guarantees position tracking while the rotational motion remains bounded.
Journal ArticleDOI
Underactuated ship global tracking under relaxed conditions
TL;DR: A controller is developed for underactuated surface ships with only surge force and yaw moment available to globally asymptotically track a reference trajectory generated by a suitable virtual ship in a frame attached to the ship body.