Modeling, parameter identification, guidance and control of an unmanned surface vehicle with experimental results

Abrougui, Helmi; Nejim, Samir; Hachicha, Saber; Zaoui, Chiheb; Dallagi, Habib

doi:10.1016/j.oceaneng.2021.110038

Cited by 19 publications

(6 citation statements)

References 14 publications

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“…σ d is bounded for ∀t ∈ [0, t max ). As a result, we can claim that there exists e 2 ∈ Ω e2 for any t ∈ [0, T) of the system (28), Ω e2 = (−1, 1).…”

Section: Model-parameter-free Controller Designmentioning

confidence: 99%

“…USVs, which possess autonomous decision-making and task-execution capabilities, have found significant applications in various fields. Recently, due to the USV's autonomy and flexibility, they are used in marine scientific research, maritime surveillance, and resource exploration [1][2][3][4]. In practical marine environments, USVs encounter constantly changing weather conditions, waves, currents, and obstacles.…”

Section: Introductionmentioning

confidence: 99%

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Model-Parameter-Free Prescribed Time Trajectory Tracking Control for Under-Actuated Unmanned Surface Vehicles with Saturation Constraints and External Disturbances

Ren,

Zhang,

Ying

et al. 2023

JMSE

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This paper mainly addresses the model-parameter-free prescribed time trajectory tracking control issue for under-actuated unmanned surface vehicles (USVs) that are susceptible to model uncertainties, time-varying disturbances, and saturation constraints. Firstly, a state extension based on coordinate transformation was designed to address the lack of control in the sway channel. Secondly, nonlinear behavior stemming from saturation constraints is not always differentiable. Regarding this, a smooth dead-zone-based model was conducted to fit the behavior, leaving a relatively simple actuator model. Then, an improved prescribed time–prescribed performance function (PTPPF) and error transformation method were utilized to propose a model-parameter-free control algorithm that guarantees user-defined constrained boundaries while ensuring all tracking errors converge within small domains before a preassigned settling time. The theoretical analysis was conducted by the initial value theorem, Lyapunov’s second method, and proof by contradiction, followed by comparative simulation results that verified the effectiveness of the proposed control scheme.

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“…σ d is bounded for ∀t ∈ [0, t max ). As a result, we can claim that there exists e 2 ∈ Ω e2 for any t ∈ [0, T) of the system (28), Ω e2 = (−1, 1).…”

Section: Model-parameter-free Controller Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Model-Parameter-Free Prescribed Time Trajectory Tracking Control for Under-Actuated Unmanned Surface Vehicles with Saturation Constraints and External Disturbances

Ren,

Zhang,

Ying

et al. 2023

JMSE

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show abstract

“…These prominent nonlinear and time-varying characteristics deteriorate the performance of heading control for USV. 1,2 Therefore, it is of great significance to study a heading control method for an advanced model of USV to improve the rapidity and accuracy of heading regulation and ensure the system robustness. 3,4 Heading control technology has always been a research hotspot in USV academic fields.…”

Section: Introductionmentioning

confidence: 99%

“…Unmanned surface vehicle (USV) has complex dynamics and is susceptible to parameter uncertainties and external disturbances such as waves, currents, and so on. These prominent nonlinear and time‐varying characteristics deteriorate the performance of heading control for USV 1,2 . Therefore, it is of great significance to study a heading control method for an advanced model of USV to improve the rapidity and accuracy of heading regulation and ensure the system robustness 3,4 …”

Section: Introductionmentioning

confidence: 99%

Heading control based on extended homogeneous polynomial Lyapunov function

Huang,

Lin

2023

Intl J Robust & Nonlinear

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For the nonlinear parameter‐varying (NPV) model of unmanned surface vehicle with the consideration of the velocities on yaw and surge as well as wave disturbances, a robust control method is proposed based on extended homogeneous polynomial Lyapunov function (EHPLF) to regulate heading for the superior performance on the rapidity, accuracy, and robustness. First, a NPV model of heading error is established to design a general form of a state feedback controller with a robust performance. Second, a Lyapunov matrix with full states and varying parameter is constructed to derive the robust global exponential stability conditions by Euler's homogeneity relation for the NPV system, known as the EHPLF stability conditions. Third, since the EHPLF stability conditions consist of a set of nonlinear coupled inequalities that cannot be directly solved by sum of squares (SOS) toolboxes, they are decoupled with matrix transformations to obtain the EHPLF‐SOS stability conditions, which is solved for the parameters of the state feedback controller. Finally, the simulation results indicate that EHPLF method exhibits a superior performance on dynamic, steady‐state, and robustness.

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“…However, the risk of the motorboat being driven by the PRBS excitation signal increases during the test. In [36], a USV model with four thrusters was identified using the normal equation. Although there were fluctuations between the truth values and the predictions, their study showed the potential significance of the data-driven model based on sea trials.…”

Section: Introductionmentioning

confidence: 99%

An Integrated Scheme of the Data-Driven Multi-Block FCMs for Modeling the Steady Turning Motion of Motorboats

Gao

Wang

et al. 2023

JMSE

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The steady turning motion of merchant ships is modeled according to industry specifications. However, challenges arise when motorboats are modeled. This study proposes a novel data-driven multi-block fuzzy cognitive map (FCM) model trained based on sea trials with four ship states. The optimal positions sampled by two different types of sensors were modeled using inverse variance weighting, which takes both Cartesian coordinate transformation and the constraints of the locations of the apparatuses into consideration. Combining these samplings with a scheme of multi-block FCMs, we conducted a study on data from motorboat trials. Our results closely approximate the data from motorboat trials at sea and are validated by a generated dataset of the classical model. Furthermore, we reveal the characteristics of our scheme, including the number of data blocks, the boundary of each block, and the parameters of the FCM for each block. As opposed to the classical method, the proposed scheme is insensitive to speed. This study presents a promising step toward mining modeling information from ship trials.

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Modeling, parameter identification, guidance and control of an unmanned surface vehicle with experimental results

Cited by 19 publications

References 14 publications

Model-Parameter-Free Prescribed Time Trajectory Tracking Control for Under-Actuated Unmanned Surface Vehicles with Saturation Constraints and External Disturbances

Model-Parameter-Free Prescribed Time Trajectory Tracking Control for Under-Actuated Unmanned Surface Vehicles with Saturation Constraints and External Disturbances

Heading control based on extended homogeneous polynomial Lyapunov function

An Integrated Scheme of the Data-Driven Multi-Block FCMs for Modeling the Steady Turning Motion of Motorboats

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