Full state sliding mode trajectory tracking control for general planar vessel models

Abstract

A novel trajectory tracking sliding mode control law for general planar underactuated autonomous vessel models is presented where all six position and velocity states are asymptotically stabilized. The approach is based on defining a transitional trajectory vector function which can be used to reduce the sixth order system to a fourth order one with two control inputs. It is then shown that the stabilization of the reduced order system guarantees asymptotic stability of all six system states where the only restriction for reference trajectory is that it must satisfy the vessel's nonholonomic constraint. The most important advantages of the approach are that it does not require any specific structure for the forcing functions such as hydrodynamic damping, it is robust to modeling uncertainties and disturbances, and it can be applied to models with diagonal and non-diagonal mass matrices. Simulation results are presented for an autonomous surface vessel.

A New Motion Planning Framework based on the Quantized LQR Method for Autonomous Robots

“…After the widespread usage of the pulse width modulation signals in electric drives at the beginning of the 90s, sliding mode control techniques [3,4] use this nonlinear switching behavior as a control method for stabilizing nonlinear systems with an on-off(bang-bang) controller. Following the broad range of industrial practices, usage areas of sliding mode control reached many application areas in robotics like stabilization of autonomous surface vessels in rough open seas [5] and reactive position control of quadrotors [6]. Sliding mode control frameworks define the switching regions as discontinuity surfaces and aim to design feedback controllers that direct the optimal solutions of system states to settle around these surfaces.…”