Dynamic obstacle avoidance of unmanned ship based on event-triggered adaptive nonlinear model predictive control

Li, Shilong; Zhu, Yakun; Bai, Jianguo; Guo, Ge

doi:10.1016/j.oceaneng.2023.115626

Cited by 3 publications

(2 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To describe the motion process of the USVs and simplify the design of the controller as much as possible, the three degrees of freedom model coordinate frames of the USV is shown in Figure 1. The kinematic equation of the USV is described as [30]. [ , , ] T u v r ν = is composed of the surge, sway, and yaw velocity of the USV in the vehicle body coordinate system.…”

Section: Problem Formulationmentioning

confidence: 99%

See 1 more Smart Citation

Backstepping Control with a Fractional-Order Command Filter and Disturbance Observer for Unmanned Surface Vehicles

Ma,

Chen,

et al. 2023

Fractal Fract

View full text Add to dashboard Cite

In the paper, a backstepping control strategy based on a fractional-order finite-time command filter and a fractional-order finite-time disturbance observer is proposed for the trajectory tracking control of an unmanned surface vehicle. A fractional-order finite-time command filter is presented to estimate the derivatives of the intermediate control, which cannot be directly calculated, thereby reducing the chattering generated by the integer-order command filter. The fractional-order finite-time disturbance observer is presented to approximate and compensate for the model uncertainty and unknown external disturbances in the system. Subsequently, the globally asymptotically stable nature of the closed-loop system is proved based on the Lyapunov method. The effectiveness of the method is proven by simulation experiments on unmanned surface vehicles.

show abstract

Section: Problem Formulationmentioning

confidence: 99%

“…The dynamic equation of the USV with unknown external disturbances and model uncertainties is described as [31]. The kinematic equation of the USV is described as [30].…”

Section: Problem Formulationmentioning

confidence: 99%

Backstepping Control with a Fractional-Order Command Filter and Disturbance Observer for Unmanned Surface Vehicles

Ma,

Chen,

et al. 2023

Fractal Fract

View full text Add to dashboard Cite

show abstract

Observer-Based Adaptive Prescribed- Time H _∞ Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization

Li,

Liu,

Tian

2024

IEEE Access

View full text Add to dashboard Cite

In this paper, a prescribed-time adaptive H ∞ cooperative strategy with novel prescribed performance and input quantization based on a leader state observer is proposed for uncertain multiple robot manipulators. First, a novel prescribed performance function is introduced into the asymmetric log-type barrier Lyapunov function, which can limit angle errors and reduce the loss of communication resources among multiple robot manipulators. Second, a new prescribed-time leader state estimation observer is proposed to estimate the leader's state information and pass it to the other followers without acceleration information. Third, a prescribed-time adaptive command filter is designed to solve the ''explosion of the complexity'' problem and improves the convergence performance of the control system. Fourth, an adaptive prescribed-time H ∞ cooperative controller with novel prescribed performance and input quantization is designed. Finally, simulation examples are presented to evaluate the stability of the proposed control system.INDEX TERMS Prescribed-time H ∞ control, novel prescribed performance, asymmetric log-type barrier Lyapunov function, prescribed-time leader state estimation observer, prescribed-time adaptive command filter, multiple robot manipulators.

show abstract

Ship identification method based on improved YOLOv5

Wang,

Yuan

2024

2024 5th International Conference on Computer Vision, Image and Deep Learning (CVIDL)

View full text Add to dashboard Cite

Dynamic obstacle avoidance of unmanned ship based on event-triggered adaptive nonlinear model predictive control

Cited by 3 publications

References 27 publications

Backstepping Control with a Fractional-Order Command Filter and Disturbance Observer for Unmanned Surface Vehicles

Backstepping Control with a Fractional-Order Command Filter and Disturbance Observer for Unmanned Surface Vehicles

Observer-Based Adaptive Prescribed- Time H _∞ Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization

Ship identification method based on improved YOLOv5

Contact Info

Product

Resources

About

Dynamic obstacle avoidance of unmanned ship based on event-triggered adaptive nonlinear model predictive control

Cited by 3 publications

References 27 publications

Backstepping Control with a Fractional-Order Command Filter and Disturbance Observer for Unmanned Surface Vehicles

Backstepping Control with a Fractional-Order Command Filter and Disturbance Observer for Unmanned Surface Vehicles

Observer-Based Adaptive Prescribed- Time H ∞ Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization

Ship identification method based on improved YOLOv5

Contact Info

Product

Resources

About

Observer-Based Adaptive Prescribed- Time H _∞ Coordinated Control for Multiple Robot Manipulators With Prescribed Performance and Input Quantization