Control of an Unmanned Surface Vehicle With Uncertain Displacement and Drag

Klinger, Wilhelm B.; Bertaska, Ivan R.; Ellenrieder, Karl D. von; Dhanak, Manhar R.

doi:10.1109/joe.2016.2571158

Cited by 84 publications

(33 citation statements)

References 30 publications

(66 reference statements)

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“…USV is assumed to be moved in ideal fluid, and the mass is uniformly distributed, so the uncertainties and disturbances are linear with velocity or slowly varying relative to the USV dynamics. Based on all of these above assumptions, the kinetics model [3,[16][17][18][19][20][21] of USV can be obtained as…”

Section: The Model Of Usvmentioning

confidence: 99%

“…As discussed by Liu et al [2] comprehensive reviews present recent progress of the control approaches from the points of applications, methodologies, and challenges. As to the adaptive control, an active mechanism for unmanned vehicles, Klinger et al [3] implemented an adaptive algorithm with the modified backstepping surge controller which has been field tested. Sonnenburg [4] and Sonnenburg and Woolsey [5] direct a speed controller algorithm by backstepping and Lyapunov's direct method, which also has been tested by USV.…”

Section: Introductionmentioning

confidence: 99%

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Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Hua

et al. 2018

Mathematical Problems in Engineering

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This paper proposes a novel nonlinear control scheme based on energy-shaping (ES) principle and state error port-controlled Hamiltonian (PCH) systems for unmanned surface vehicles (USV) system. The PCH model of three degrees of freedom for USV kinetics system is established. By the ES principle, interconnection assignment and damping injection method is applied to the speed and heading control of the closed-loop USV system to realize an overall stability of control mechanism. Simulation results show that the validity and stability of control algorithm can be satisfied with the performance in speed and heading tracking of which the high simplification and portability make it applicable to the various region.

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Section: The Model Of Usvmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Hua

et al. 2018

Mathematical Problems in Engineering

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“…= . So from equation 5the kinematic model of the sailing system in body frame is: (3DOF) [18], [20].…”

Section: Kinematic Modelmentioning

confidence: 99%

“…The main affecting forces and moments on the sailing robot are as follow: First, The actuators forces and moments are: [16], [18], [21], [23]. The robot generates the propulsion forces and turning moment with two thrusters as shown in fig.…”

Section: ( ) ( )mentioning

confidence: 99%

Design of an Autonomous Robot Operating in Different Environments

Alsherif

Barakat

Darwish

2018

The International Conference on Applied Mechanics and Mechanica

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Current autonomous robots are limited to work only in one single environment. For example (swimming and submerging) in water, (walking, jumping and mobile) on ground or (flying and floating) in air. However, in case of seeking a series of autonomous operations that required to be held in different environments, either many robots should be used, or a single robot that can operate in different environments should be established. Therefore, this research is aimed at designing a single autonomous robot that can fly in air-as Unmanned Arial Vehicle (UAV)-, sail in water-as Unmanned Surface Vehicle (USV)-and move on the ground-as Unmanned Ground Vehicle (UGV)-and this is a new category of robots which could be called Unmanned Multi-environments Vehicle or Autonomous Multi-environments Robot. The mathematical model of the proposed robot is derived using kinematic and dynamic model. Then a linearized version of the model is obtained. The used control approach is based on the linear proportional derivative Integral controller (PID) using nested control loops and applied to the model. Finally the behavior of the Robot under the proposed control strategy is simulated and observed in 3D plot Simulink / Matlab.

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“…In [8], the backstepping is proposed to design station-keeping controllers of unmanned surface vehicle, and favorable results are obtained in the actual marine control system. In [9], the backstepping method is also adopted to design controller for under-actuated ships with input saturation, achieving global stability tracking.…”

Section: Introductionmentioning

confidence: 99%

Design of Ship Course Controller Based on Improved Adaptive Backstepping

Qu¹,

Wang²

2019

Proceedings of the 2019 International Conference on Modeling, Analysis, Simulation Technologies and Applications (MASTA 2019)

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This paper presents an improved adaptive backstepping control method based on uncertain parameters of ship model to design the ship course controller. The K-class function is introduced into every step of the virtual function design to ensure the stability of the closed-loop system and accelerate the convergence speed of the system state variables. Simulation results show that IAB control method is more superior than the traditional adaptive backstepping control method.

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Control of an Unmanned Surface Vehicle With Uncertain Displacement and Drag

Cited by 84 publications

References 30 publications

Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Design of an Autonomous Robot Operating in Different Environments

Design of Ship Course Controller Based on Improved Adaptive Backstepping

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