Fixed-time neural network trajectory tracking control for underactuated surface vessels

Zhou, Bin; Huang, Bing; Su, Yumin; Zheng, Yuxin; Zheng, Shuai

doi:10.1016/j.oceaneng.2021.109416

Cited by 48 publications

(16 citation statements)

References 52 publications

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“…By resorting to the newly defined estimation error D = D − η 3 tanh( D), this ISMS will be illustrated converging to zero under the constructed controller. Thus, tracking accuracy is considerably improved when it is compared with current researches [6,18,27]. In view of the presented analysis, it concludes that tracking accuracy and estimation accuracy are well guaranteed.…”

Section: Remark 14mentioning

confidence: 61%

“…From the above discussion, we learned that m 11 = m 22 and u = 0. According to Equation (18), one can deduce that G 1 is invertible. Eventually, a newer error dynamic equation is established as:…”

Section: Ementioning

confidence: 99%

“…[14] proposes a fixed-time sliding-mode control scheme for the rapid and accurate trajectory tracking of a fully actuated unmanned surface vehicles in the presence of model uncertainties and external disturbances. For the sake of fast converge speed for tracking 2 of 17 missions, finite-time stability [14][15][16] and fixed-time stability [17][18][19] were ensured based on a sliding-mode control algorithm.…”

Section: Introductionmentioning

confidence: 99%

“…(ii) Unlike current finite-time control algorithm [6,18,27], this paper constructs an artful ISMS, even if the initial error dynamics are transformed into a third-order system, the design of the integrated controller can still be realized, and the tracking errors have finite-time stability. Additionally, the devised updating laws will force the tracking errors converging to zero rather than a small region.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

Xiao

Yang

Liu

et al. 2021

JMSE

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This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.

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Section: Remark 14mentioning

confidence: 61%

Section: Ementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

Xiao

Yang

Liu

et al. 2021

JMSE

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“…Noticing that for the USV model described by (6), control inputs are only available in surge and yaw channel, which means that the system is underactuated. 42 Besides, to enhance the feasibility of the following proposed control scheme, all hydrodynamic terms and disturbances (i.e.,…”

Section: Problem Formulationmentioning

confidence: 99%

Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

Zhou

Huang

Mao

et al. 2022

Intl J Robust & Nonlinear

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This article investigates the distributed event‐triggered affine formation maneuver control problem for multiple underactuated surface vessel (USV) systems with positive minimum inter‐event times (MIET). Unlike common formation control methods that only ensure the formation system to keep a fixed geometric shape, the proposed scheme enables multiple USVs maneuver as a group in translation, shearing, rotation, or combinations of them. The proposed control strategy is composed of two parts. First, a distributed event‐triggered observer (DETO) is proposed to observe the time‐varying target formation under the lack of global leaders' information and govern the inter‐vessel communications among the formation group. Besides, the MIET of the designed communication strategy is proved to be strictly positive and computable from formation configurations and control parameters. With these guarantees, the maximum communication frequency can be known in advance. Then, upon the DETO signals, the adaptive local tracking controller is subsequently synthesized for each vessel to realize the target formation track. Rigorous theoretical analysis and simulation results are finally conducted to verify the validness and effectiveness of the proposed algorithm.

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Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults

Zhu

Huang

et al. 2021

Intl J Robust & Nonlinear

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This article tackles the finite-time global trajectory tracking control problem of the autonomous underwater vehicle (AUV) in presence of input saturation constraints, actuator faults, unknown dynamics, and external disturbances. First, we describe the orientation of the AUV by rotation matrix instead of classical Euler angle or unit quaternion such that the AUV's dynamics could be globally formulated without singularity and unwinding phenomenon. After that, a smooth dead zone-based model is introduced here to linearize the actuator model, leaving that the adaptive laws could be suitable for the solution of input saturation and actuator faults. Considering that the difficulty of model dynamic acquirement, together with the complicity of rotation-matrix-based representation, would trouble deployment of the controller. The minimum learning parameter technology is thereby utilized to approximated the dynamic nonlinearity of the AUV. On the basis of these, a rotation-matrix-based sliding mode control scheme is technically proposed. It is proved that the tracking errors can be stabilized to a small neighborhood of origin within a settling time. Finally, several set numerical experiments are conducted to assess the effectiveness and show the advantages of the proposed control scheme.

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Fixed-time neural network trajectory tracking control for underactuated surface vessels

Cited by 48 publications

References 52 publications

Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

Distributed observer based event‐triggered affine formation maneuver control for underactuated surface vessels with positive minimum inter‐event times

Finite‐time rotation‐matrix‐based tracking control for autonomous underwater vehicle with input saturation and actuator faults

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