Error-Constrained LOS Path Following of a Surface Vessel With Actuator Saturation and Faults

Zheng, Zewei; Sun, Liang; Xie, Lihua

doi:10.1109/tsmc.2017.2717850

Cited by 220 publications

(72 citation statements)

References 51 publications

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“…By introducing first‐order and second‐order filters to estimate the derivatives of the virtual controls, the dynamic surface and the command filter are proposed to avoid the complicated calculations in backstepping. They have been successfully applied in practical systems …”

Section: Resultsmentioning

confidence: 99%

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Event‐triggered control for a saturated nonlinear system with prescribed performance and finite‐time convergence

Zheng

Lau

Xie

2018

Intl J Robust & Nonlinear

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Summary This paper presents an event‐triggered controller for a class of saturated uncertain nonlinear systems. We develop a performance constrained finite‐time controller to guarantee that the tracking error converges at a prescribed convergence rate and does not exceed the given maximum overshoot. A smooth function is designed to replace the absolute and signum operators in existing finite‐time controllers that lead to nondifferentiable virtual controls. Then, a novel backstepping design consisting of an adaptive law and an auxiliary system governed by a smooth switching function is developed to compensate for the uncertainty, the triggering event threshold, and the saturation constraint. Theoretical analysis demonstrates that under the proposed controller, all closed‐loop signals are bounded and the Zeno behavior is avoided. Furthermore, the tracking error will converge toward a residual set in finite time, and the prescribed transient and steady tracking performance bounds are never violated. Results from a comparative simulation study illustrate the effectiveness and advantages of the proposed method.

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Section: Resultsmentioning

confidence: 99%

“…They have been successfully applied in practical systems. 1,30 Remark 9. Event-triggered control can be considered for either the sensor-to-control 31 or controller-to-actuator channel 13 or both of them.…”

mentioning

confidence: 99%

Event‐triggered control for a saturated nonlinear system with prescribed performance and finite‐time convergence

Zheng

Lau

Xie

2018

Intl J Robust & Nonlinear

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“…Proof. Select the Lyapunov function candidate for the whole system consisting of (1), (7), (20), (22), (25), (30), and (32) as…”

Section: The Sway Velocity Which Is Not Controlled Directly Is Uniformentioning

confidence: 99%

“…A popular and effective guidance algorithm adopted in way-point tracking control is the line-of-sight (LOS) guidance [26][27][28][29][30]. Basically, the main idea of LOS guidance is to mimic the actions of a helmsman to steer the vehicle towards a look-ahead distance ahead of the projection point of the vehicle along the path.…”

Section: Introductionmentioning

confidence: 99%

Command filtered path tracking control of saturated ASVs based on time‐varying disturbance observer

Gao

Guo

2019

Asian Journal of Control

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This paper investigates the path-tracking control problem for an autonomous surface vessel (ASV) with unknown time-varying disturbances and input saturation. A robust nonlinear control law is proposed based on a disturbance observer and an auxiliary system in the context of command filtered control.The disturbance observer is constructed to estimate the unknown time-varying disturbances, the auxiliary dynamic system is employed to handle input saturation, and the compensator based command filtered control technique makes the designed path-tracking control law simple and easy to implement in practice. It is proved that the nonlinear control law can track the desired vessel's position and heading, while guaranteeing the uniform ultimate boundedness of all signals in the path-tracking control system. Simulation results further demonstrate the effectiveness of the method.

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“…In the general context of the system control literature, different methods have been proposed to deal with such issues. [30][31][32][33] In other previous works, [34][35][36][37][38][39][40][41][42][43][44] the authors have discussed the problem of system output constraints for different classes of nonlinear single-input-single-output (SISO) systems, using barrier Lyapunov functions (BLF) in their control schemes. However, in these works, the gain functions are assumed to be fully known and only guarantee asymptotic convergence over the infinite-time horizon.…”

Section: Introductionmentioning

confidence: 99%

Adaptive decentralized finite‐time output tracking control for MIMO interconnected nonlinear systems with output constraints and actuator faults

Jin

2017

Intl J Robust & Nonlinear

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In this work, we present a novel adaptive decentralized finite-time fault-tolerant control algorithm for a class of multi-input-multi-output interconnected nonlinear systems with output constraint requirements for each vertex. The actuator for each system can be subject to unknown multiplicative and additive faults.Parametric system uncertainties that model the system dynamics for each vertex can be effectively dealt with by the proposed control scheme. The control input gain functions of the nonlinear systems can be not fully known and state dependent. Backstepping design with a tan-type barrier Lyapunov function and a new structure of stabilizing function is presented. We show that under the proposed control scheme, with the use of graph theory, finite-time convergence of the system output tracking error into a small set around zero is guaranteed for each vertex, while the time-varying constraint requirement on the system output tracking error for each vertex will not be violated during operation. An illustrative example on 2 interacting 2-degree-of-freedom robot manipulators is presented in the end to further demonstrate the effectiveness of the proposed control scheme.

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Error-Constrained LOS Path Following of a Surface Vessel With Actuator Saturation and Faults

Cited by 220 publications

References 51 publications

Event‐triggered control for a saturated nonlinear system with prescribed performance and finite‐time convergence

Event‐triggered control for a saturated nonlinear system with prescribed performance and finite‐time convergence

Command filtered path tracking control of saturated ASVs based on time‐varying disturbance observer

Adaptive decentralized finite‐time output tracking control for MIMO interconnected nonlinear systems with output constraints and actuator faults

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