Nonlinear maneuvering and control of ships

Skjetne, Roger; Fossen, Thor I.

doi:10.1109/oceans.2001.968121

Cited by 102 publications

(53 citation statements)

References 4 publications

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“…Therefore, we assume the surge velocity u is a positive constant (or an independent controller is used to maintain the surge velocity of vehicle). This assumption is applied by many scholars [12,22]. Hence, the path-following mathematical model of underactuated USV has been simplified into 11 …”

Section: Problem Formulationmentioning

confidence: 99%

“…Figure 1 shows the diagrammatic sketch of path following under {SF}-frame. The errors dynamic equation based on {SF}-frame is developed as follows [12]: …”

Section: Problem Formulationmentioning

confidence: 99%

“…In Ref. [12], a path following controller was proposed based on a transformation of the ship kinematics to the Serret−Frenet frame on the path, where an acceleration and linearization of ship dynamics was used. DO and PAN [13] presented an output feedback path following strategy, where ultimate convergence was proven for an underactuated ship with environmental disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

Liao

Zhang

Wan

2015

J. Cent. South Univ.

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The path following problem for an underactuated unmanned surface vehicle (USV) in the Serret−Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret−Frenet frame and global coordinate transformation, the control problem of underactuated system (a nonlinear system with single-input and ternate-output) is transformed into the control problem of actuated system (a single-input and single-output nonlinear system), which simplifies the controller design. A backstepping adaptive sliding mode controller (BADSMC) is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control (DSMC). Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.

show abstract

Section: Problem Formulationmentioning

confidence: 99%

“…Figure 1 shows the diagrammatic sketch of path following under {SF}-frame. The errors dynamic equation based on {SF}-frame is developed as follows [12]: …”

Section: Problem Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

Liao

Zhang

Wan

2015

J. Cent. South Univ.

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“…The output-redefinition was proposed where the desired heading angle was defined as a function of the cross-track error, and feedback linearization technique was used to design the control law. A path following controller was proposed by Skjetne and Fossen [8] using SerretFrenet frame, where acceleration feedback approach and backstepping technique were used. Based on Skjetne and Fossen's work, Do and Pan [5] proposed state and output feedback controllers in the presence of environmental disturbances, where a reasonable output-redefinition was proposed to simplify the controller design.…”

Section: Introductionmentioning

confidence: 99%

Path following control of underactuated ships based on nonswitch analytic model predictive control

Wang

Zou

et al. 2010

J. Control Theory Appl.

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A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined path. The proposed controller is based on nonswitch analytic model predictive control. It is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and nonsingular. The problem of ill-defined relative degree is solved. The path-following ability of the nonlinear system is guaranteed. Numerical simulations are provided to demonstrate the effectiveness of the proposed control law.

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“…By introducing output-redefinition where the desired yaw angle is defined as a function of the cross-track error, Petteren and Lefeber [2] proposed a path following controller to follow straight lines based on cascade approach and feedback linearization techniques. To follow both straight line and curve, the Serret-Frenet frame was used by some researchers to study the path following problem [3][4] . Based on a transformation of the ship kinematics to Serret-Frenet frame, a path following controller was proposed by Skjetne and Fossen [3] where an acceleration feedback and linearization of ship dynamics were used.…”

Section: Introductionmentioning

confidence: 99%

Adaptive path following controller of underactuated ships using serret-frenet frame

Wang¹,

Zou

Li³

et al. 2010

J. Shanghai Jiaotong Univ. (Sci.)

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This paper presents an adaptive path following control law to steer underactuated ships along a predefined path at a constant forward speed with uncertain parameters due to changes of added mass matrices. The proposed controller is based on analytic model predictive control and model reference adaptive control. The SerretFrenet frame is used to describe the ship dynamics. The analytic model predictive control provides a systematic method rather than try-and-error method to get appropriate control parameters to guarantee the stability of the closed-loop system, and the well-defined relative degree is guaranteed by introducing output-redefinition. An identification algorithm based on model reference adaptive control is used to identify the uncertain parameters. Numerical simulations are provided to demonstrate the validity of the proposed control law.

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Nonlinear maneuvering and control of ships

Cited by 102 publications

References 4 publications

Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties

Path following control of underactuated ships based on nonswitch analytic model predictive control

Adaptive path following controller of underactuated ships using serret-frenet frame

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