Adaptive output tracking control of a surface vessel

Lee, DongBin; Tatlıcıoğlu, Enver; Burg, Timothy C.; Dawson, D.M.

doi:10.1109/cdc.2008.4739313

Cited by 7 publications

(9 citation statements)

References 14 publications

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“…Here, our aim is to show the efficacy of the proposed control approach compared with the previous output feedback control system in [24]. It is shown that, their proposed output feedback controller shows a satisfactory tracking performance in the presence of parametric uncertainties.…”

Section: Comparative Studymentioning

confidence: 99%

“…Also, the parametric uncertainties and model uncertainties are ignored in this work. By transforming the inertia matrix into a symmetric form, two adaptive controllers (a full-state feedback controller and an output feedback controller) in the presence of parametric uncertainties are proposed in [24]. However, non-parametric uncertainties are ignored in the design of the controller.…”

Section: Introductionmentioning

confidence: 99%

“…(ii) In contrast to [23][24][25] all types of uncertainties are considered in the design of the controller. The adaptive robust controller is designed such that it estimates the unknown constants of an upper bounding function of the lumped uncertainty because of unknown parameters of the system, external disturbances and unmodelled dynamics; (iii) in contrast to previous output feedback controllers [23,24], the proposed controller has a simpler structure and does not require any transformation matrix in the design of the controller. A Lyapunov-based stability analysis shows that all signals in the closed-loop system are uniformly ultimately bounded (UUB) and converge to a small ball centered at the origin.…”

Section: Introductionmentioning

confidence: 99%

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Output Feedback Look-ahead Position Control of Electrically Driven Fast Surface Vessels

2016

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Original scienti c paperRobust tracking control is of great importance for the surface vessels applications. This paper addresses the design of a trajectory tracking controller for fast underactuated ships in the presence of model uncertainties without velocity measurements in the yaw and surge directions. An observer-based trajectory tracking controller is proposed for the fast underactuated ship model. Then, the dynamic surface control approach is effectively exploited to propose a tracking controller considering the actuator dynamics. An adaptive robust controller is also used to compensate both the parametric and non-parametric uncertainties in the fast underactuated ship model. A Lyapunov-based stability analysis is utilised to guarantee that tracking and state estimation errors are uniformly ultimately bounded. Simulation results are presented to illustrate the feasibility and ef ciency of the proposed controller.Upravljanje pozicijom elektri cki pokretanog brzog površinskog vozila korištenjem unaprijedne projekcije izlazne povratne veze. Robusno praćenje je pitanje od velikog prakti cnog zna caja za površinska vozila. Ovaj se rad bavi projektiranjem regulatora za praćenje trajektorije za brze podaktuirane brodove s modelima nesigurnosti bez mjerenja brzine u smjerovima zaošijanja i uzdu nog napredovanja. Regulator za praćenje putanje zasnovan na observeru predlo en je za brz podaktuiran model broda. Upravljanje površinskom dinamikom je u cinkovito iskorišteno kako bi se predlo io regulatora za praćenje trajektorije s obzirom na dinamiku aktuatora. Takoer su primjenjene adaptivne robusne tehnike kako bi se nosile sa parametrijskim i neparametrijskim nesigurnostima u modelu brzog podaktuiranoga broda. Analiza stabilnosti temeljena na Lyapunovu se koristi kako bi se zajam cilo da su pogreške praćenja i estimacije stanja Adaptivni robusni regulator takoer se koristi kako bi kompenzirao parametarske i neparametarske nesigurnosti u brzom podaktuiranom brodskom modelu. Analiza stabilnosti temeljena na Lyapunovu se koristi kako bi se zajam cilo da su pogreške praćenja i procjene stanja jednoliko kona cno ograni cene. Prikazani su simulacijski rezultati koji ilustriraju izvedivost i u cinkovitost predlo enog regulatora.Klju cne rije ci: Dinamika aktuatora, adaptivno upravljanje, model nesigurnosti, izlazna povratna veza, praćenje trajektorije

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Section: Comparative Studymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Output Feedback Look-ahead Position Control of Electrically Driven Fast Surface Vessels

2016

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“…In [11], based on the transformation of open loop tracking error into a skewsymmetric form, a continues, time-varing control law was proposed, but disrurbances were not consider in the model of the system. Two adaptive control schemes were proposed in [12]. Both controllers were known to yield uniformly ultimately bounded tracking result and environmental disturbances were not consider in this work.…”

Section: Introductionmentioning

confidence: 98%

“…However, it is extremely challenging to obtain an accurate model that will satisfactorily capture the dynamic behavior of the system. Fortunately, adaptive control strategies present a reasonable solution to overcome parametric uncertainties [11][12][13]. In [11], based on the transformation of open loop tracking error into a skewsymmetric form, a continues, time-varing control law was proposed, but disrurbances were not consider in the model of the system.…”

Section: Introductionmentioning

confidence: 99%

Design a robust adaptive trajectory tracking controller for underactuated ships

Rasouli¹,

Shojaei²,

Chatraei³

2013

Fifth International Conference on Advances in Recent Technologies in Communication and Computing (ARTCom 2013)

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Tracking control is an issue of vital practical importance to the ship. In this paper, an adaptive robust tracking controller is developed for underactuated ships to cope with parametric and nonparametric uncertainties in the ships model. At first, an adaptive nonlinear control law is developed based on backstepping and Lyapunov synthesis. Then, the controller is modified to increase the robustness of the controller. The adaptive robust controller is developed such that it estimates the unknown constants of an upper bounding function of the uncertainty due to disturbances and unmodeled dynamics. It is also proved that the proposed algorithm could guarantee the closed-loop system to be globally asymptotically converge to zero. Numerical simulations are provided to illustrate the robustness and tracking performance of the controller

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Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach

2017

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In this work, we provide a tracking controller formulation for dynamically positioned surface vessels with an asymmetric added mass terms that affects the overall system dynamics at the acceleration level. Specifically a novel continuous robust controller is proposed for surface vessels that in addition to unstructured uncertainties in its dynamics, contains added mass effects in its inertia matrix. The proposed controller compensates the overall system uncertainties while ensuring asymptotic tracking by utilizing the knowledge of the leading principal minors of the input gain matrix. Stability of the closed-loop system and asymptotic convergence are proven via Lyapunov based approaches. Simulation studies are also presented to illustrate the viability of the proposed method.

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Adaptive output tracking control of a surface vessel

Cited by 7 publications

References 14 publications

Output Feedback Look-ahead Position Control of Electrically Driven Fast Surface Vessels

Output Feedback Look-ahead Position Control of Electrically Driven Fast Surface Vessels

Design a robust adaptive trajectory tracking controller for underactuated ships

Compensating of added mass terms in dynamically positioned surface vehicles: A continuous robust control approach

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