Adaptive steering control for uncertain ship dynamics and stability analysis

Kahveci, Nazli E.; Ioannou, Pétros

doi:10.1016/j.automatica.2012.11.026

Cited by 120 publications

(54 citation statements)

References 40 publications

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“…These models are usually effective under the assumptions: (1) the forward speed changes very slowly [15]; (2) the USV is in displacement area [16]. The deficiencies of the linear models are clear: (1) it presents poor performance when describing the details of the ship dynamics [17]; (2) the parameters change greatly for different speeds of the USV. This deteriorates the control performance greatly.…”

Section: Usv Dynamic Modelingmentioning

confidence: 99%

Design, Implementation and Modeling of Flooding Disaster-Oriented USV

Xiong¹,

Gu²,

Li³

et al. 2016

Recent Advances in Robotic Systems

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Although there exist some unmanned surface platforms, and parts of them have been applied in flooding disaster relief, the autonomy of these platforms is still so weak that most of them can only work under the control of operators. The primary reason is the difficulty of obtaining a dynamical model that is sufficient rich for model-based control and sufficient simple for model parameters identification. This makes them difficult to be used to achieve some high-performance autonomous control, such as robust control with respect to disturbances and unknown dynamics and trajectory tracking control in complicated and dynamical surroundings. In this chapter, a flooding disaster-oriented unmanned surface vehicle (USV) designed and implemented by Shenyang Institute of Automation, Chinese Academy of Sciences (SIA, CAS) is introduced first, including the hardware and software structures. Then, we propose a quasi-linear parameter varying (qLPV) model to approach the dynamics of the USV system. We first apply this to solve a structured modeling problem and then introduce model error to solve an unstructured modeling problem. Subsequently, the qLPV model identification results are analyzed and the superiority compared to two linear models is demonstrated. At last, extensive application experiments, including rescuing rope throwing using an automatic pneumatic and water sampling in a 2.5 m radius circle, are described in detail to show the performance of course keeping control and GPS point tracking control based on the proposed model.

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Section: Usv Dynamic Modelingmentioning

confidence: 99%

Design, Implementation and Modeling of Flooding Disaster-Oriented USV

Xiong¹,

Gu²,

Li³

et al. 2016

Recent Advances in Robotic Systems

View full text Add to dashboard Cite

show abstract

“…For the nonlinear steering control of marine vessels, a series of control methodologies have been proposed, such as advanced sliding mode control [8][9][10], robust control [11,12], and adaptive control [13,14]. But these passive disturbance attenuation control methods may suffer from actuator chattering, system conservation, derivative explosion, and rigorous proof for stability.…”

Section: Introductionmentioning

confidence: 99%

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

Liu

Zhang

2017

Mathematical Problems in Engineering

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This paper proposes a novel robust output feedback control methodology for the course keeping control of a fully submerged hydrofoil vessel. Based on a sampled-data iterative learning strategy, an iterative learning observer is established for the estimation of system states and the generalized disturbances. With the state observer, a feedback linearized iterative sliding mode controller is designed for the stabilization of the lateral dynamics of the fully submerged hydrofoil vessel. The stability of the overall closedloop system is analyzed based on Lyapunov stability theory. Comparative simulation results verify the effectiveness of the proposed control scheme and show the dominance of the disturbance rejection performance.

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“…As for the nonlinear steering control for marine vessels, a series of control methodologies have been explored, such as advanced sliding mode control [7][8][9], robust control [10,11], and adaptive control [12][13][14]. But these passive disturbance attenuation control methods may suffer from actuator chattering, system conservation, derivative explosion, and rigorous proof for stability.…”

Section: Introductionmentioning

confidence: 99%

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

Liu

Zhang

2017

Mathematical Problems in Engineering

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This paper presents a two-time scale control structure for the course keeping of an advanced marine surface vehicle, namely, the fully submerged hydrofoil vessel. The mathematical model of course keeping control for the fully submerged hydrofoil vessel is firstly analyzed. The dynamics of the hydrofoil servo system is considered during control design. A two-time scale model is established so that the controllers of the fast and slow subsystems can be designed separately. A robust integral of the sign of the error (RISE) feedback control is proposed for the slow varying system and a disturbance observer based state feedback control is established for the fast varying system, which guarantees the disturbance rejection performance for the two-time scale systems. Asymptotic stability is achieved for the overall closed-loop system based on Lyapunov stability theory. Simulation results show the effectiveness and robustness of the proposed methodology.

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Adaptive steering control for uncertain ship dynamics and stability analysis

Cited by 120 publications

References 40 publications

Design, Implementation and Modeling of Flooding Disaster-Oriented USV

Design, Implementation and Modeling of Flooding Disaster-Oriented USV

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel without Velocity Measurement: An Iterative Learning Approach

Robust Course Keeping Control of a Fully Submerged Hydrofoil Vessel with Actuator Dynamics: A Singular Perturbation Approach

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