Path Following of a Surface Vessel With Prescribed Performance in the Presence of Input Saturation and External Disturbances

Zheng, Zewei; Feroskhan, Mir

doi:10.1109/tmech.2017.2756110

Cited by 247 publications

(87 citation statements)

References 60 publications

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“…In the control engineering's point of view, two approaches could effectively compensate for the effects of the uncertainty and disturbance: (i) robust control technique and (ii) learning technique. In a progress working toward the first approach, several robust control techniques have been developed for the tracking control of surface vessels . For example, in the work of Zheng and Feroskhan, a robust control scheme has been built based on a combining between the backstepping control technique and a DO.…”

Section: Introductionmentioning

confidence: 99%

“…In a progress working toward the first approach, several robust control techniques have been developed for the tracking control of surface vessels . For example, in the work of Zheng and Feroskhan, a robust control scheme has been built based on a combining between the backstepping control technique and a DO. Even though the system can guarantee the prescribed performance of the system, the designed controller provided weak robustness against the uncertainties and disturbance.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive neural integral sliding‐mode control for tracking control of fully actuated uncertain surface vessels

Van

2019

Intl J Robust & Nonlinear

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This paper develops a novel adaptive neural integral sliding-mode control to enhance the tracking performance of fully actuated uncertain surface vessels. The proposed method is built based on an integrating between the benefits of the approximation capability of neural network (NN) and the high robustness and precision of the integral sliding-mode control (ISMC). In this paper, the design of NN, which is used to approximate the unknown dynamics, is simplified such that just only one simple adaptive rule is needed. The ISMC, which can eliminate the reaching phase and offer higher tracking performance compared to the conventional sliding-mode control, is designed such that the system robust against the approximation error and stabilize the whole system. The design procedure of the proposed controller is constructed according to the backstepping control technique so that the stability of the closed-loop system is guaranteed based on Lyapunov criteria. The proposed method is then tested on a simulated vessel system using computer simulation and compared with other state-of-the-art methods. The comparison results demonstrate the superior performance of the proposed approach. KEYWORDSadaptive control, backstepping control technique, integral sliding-mode control, neural network, surface vessels Int J Robust Nonlinear Control. 2019;29:1537-1557. wileyonlinelibrary.com/journal/rnc

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Adaptive neural integral sliding‐mode control for tracking control of fully actuated uncertain surface vessels

Van

2019

Intl J Robust & Nonlinear

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“…where u r and v r are the relative surge and sway velocities; x, y, and ψ express the position and orientation in {i}; and V x and V y are the ocean currents represented in {b}. The dynamics of a USV is expressed as follows [25]…”

Section: Usv Modelmentioning

confidence: 99%

“…where k σ i (i = 1, 2) are positive design parameters; µ i (i = 1, 2) are small positive constants; ∆τ r = τ r − τ r0 ; ∆τ u = τ u − τ u0 . Therefore, the closed-loop attitude and surge velocities tracking errors dynamics become by virtue of Equations (25) to (27)…”

Section: Design Of Kinetic Controllermentioning

confidence: 99%

Robust Adaptive Path Following Control of an Unmanned Surface Vessel Subject to Input Saturation and Uncertainties

2019

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This paper investigates the path following control problem of an unmanned surface vessel (USV) subject to input saturation and uncertainties including model parameters uncertainties and unknown time-varying external disturbances. A nonlinear robust adaptive control scheme is proposed to address the issue, more specifically, steering a USV to follow the desired path at a certain velocity assignment despite the involved disturbances, by utilizing the finite-time currents observer based line-of-sight (LOS) guidance and radial basis function neural networks (RBFNN). Backstepping and Lyapunov’s direct method are the main design frameworks. Based on the finite-time currents observer and adaptive control technique, an improved LOS guidance law is proposed to obtain the desired approaching angle to the desired path, making compensations for the effects of unknown time-varying ocean currents. Then, a kinetic controller with the capability of uncertainties estimation and disturbances rejection is proposed based on the RBFNNs, where the adaptive laws including leakage terms estimate the approximation error and the unknown time-varying disturbances. Subsequently, sophisticated auxiliary control systems are employed to handle input saturation constraints of actuators. All error signals of the closed-loop system are proved to be locally uniformly ultimately bounded (UUB). Numerical simulations demonstrated the effectiveness and robustness of the proposed path following control method.

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“…In fact, it is difficult to design an AUV path following controller from 2D decoupled control to three-dimensional (3D) coupled control (Cui et al, 2016;Zheng et al, 2017c;Xiang et al, 2017a). To the best of our knowledge, there have been few studies concerning 3D path following problem for an underactuated AUV exposed to environmental disturbances.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle

Xia

Lapierre

et al. 2017

Ocean Engineering

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This paper proposes a simplified nonlinear fuzzy controller integrating an improved three-dimensional (3D) guidance law, in order to address the problem of path following for an underactuated autonomous underwater vehicle (AUV) exposed to unknown environmental disturbances. First, an improved 3D line-of-sight guidance law that makes full use of the essentially equivalent coordinate transformation is derived to transform 3D path following position errors into controlled guidance speeds, which also reduces the path following system form second-order to first-order. The side-slip angle and angle of attack are integrated into 3D guidance design to account for the underactuated configuration in sway and heave. Second, a nonlinear single-input fuzzy controller is designed to reduce computation complexity resulting from square rules in a double-input fuzzy controller, and to force the steerable speeds of an AUV to attain their guidance profiles. Subsequently, sensitivity analysis is adopted to suggest that the nonlinear fuzzy design with the convergent distribution and small slope for the single input have better robustness against unknown disturbances than the linear design. Finally, numerical examples with quantitative comparison are provided to illustrate the performance of the nonlinear single-input fuzzy controller for 3D path following of an underactuated AUV exposed to unknown environmental disturbances.

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Path Following of a Surface Vessel With Prescribed Performance in the Presence of Input Saturation and External Disturbances

Cited by 247 publications

References 60 publications

Adaptive neural integral sliding‐mode control for tracking control of fully actuated uncertain surface vessels

Adaptive neural integral sliding‐mode control for tracking control of fully actuated uncertain surface vessels

Robust Adaptive Path Following Control of an Unmanned Surface Vessel Subject to Input Saturation and Uncertainties

Nonlinear guidance and fuzzy control for three-dimensional path following of an underactuated autonomous underwater vehicle

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