Sliding-Mode Formation Control for Underactuated Surface Vessels

Fahimi, Farbod

doi:10.1109/tro.2007.898961

Cited by 171 publications

(67 citation statements)

References 10 publications

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“…In recent years, sliding-mode control of underactuated systems has focused on some specific systems, such as surface vessel [14,15], wheeled inverted pendulum [16], mobile robot [17], and crane system [18,19], as well as for a class of underactuated systems, e.g. [20,21,22,23,24].…”

Section: Introductionmentioning

confidence: 99%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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This paper is a postprint of a paper submitted to and accepted for publication in IET Control Theory and Applications and is subject to Institution of Engineering and Technology Copyright. AbstractStabilization of multibody drill-strings which exhibit stick-slip oscillations is studied in this paper from the point of view of underactuated system. The model has one control torque input acting on the rotary table from the land surface and multi-degree-of-freedom downhole parts to be controlled. Three motion regimes of the model including bit sticking, stick-slip oscillation, and rotating at a constant speed are identified and their equilibria are analyzed accordingly. The control objective of the system is to avoid the undesired bit sticking and stick-slip oscillation while tracking a desired angular velocity. Three slidingmode controllers are studied for the drill-string with estimated physical parameters. The stabilities of the proposed controllers are proved by using the Lyapunov direct method ensuring that any trajectory of the system can reach and stays thereafter on the predesigned sliding surface where the desired equilibrium is asymptotically stable. Extensive simulation results are given to demonstrate the effectiveness of the proposed controllers and their robustness to parametric uncertainties.

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Section: Introductionmentioning

confidence: 99%

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Liu

2015

IET Control Theory & Applications

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“…The bulk of existing research has focused on global stabilization and tracking control [80,81,82,83,84,85,86,87], and with a special concern to its parametric uncertainties [88,89,90].…”

Section: The Surface Vesselmentioning

confidence: 99%

A survey of underactuated mechanical systems

Liu

2013

IET Control Theory & Applications

244

142

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An underactuated mechanical system (UMS) is the system that has fewer independent control actuators than degrees of freedom to be controlled. Control of UMS is considered as one of the most active fields of research due to its diverse engineering applications.This survey reviews UMS from its history to the state-of-the-art research on modelling, classification, control methods, and to some extent, provides some unique insights for bottleneck issues of control and future research directions.

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“…The methodology is based on keeping exactly a properly chosen dynamic constraint by means of high-frequency control switching, and is known as robust and very accurate. The first-order sliding mode control (1-SMC) has been successfully implemented in surface vessel and offshore crane systems (Ashrafiuon, 2008;Fahimi, 2007;Ngo & Hong, 2012;Yu et al, 2012). Unfortunately, 1-SMC general application may be restricted, i.e., for an output sliding function to be zeroed, the standard sliding mode may keep the sliding function equal to zero only if the outputs relative degree is one (Levant, 2007).…”

Section: Introductionmentioning

confidence: 99%

Trajectory Tracking Control for Offshore Boom Cranes Using Higher-Order Sliding Modes

Ismail¹,

Ha²

2013

Proceedings of the 30th International Symposium on Automation and Robotics in Construction and Mining (ISARC 2013): Building Th

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Shipping and stevedoring industry is going to witness a massive increase in the amount of containers to be handled while land constraints become more critical. Offshore transfer operations hence offer a preferable solution to deal with the surge in cargos rather than to expand the port outwards. Recently, there has been increasing research interests on offshore crane automation. Suspended cargos in a ship-mounted crane system are caused to swing due to the vibratory motion of the ship induced by ocean waves, which can lead to collision between cargos and deck. Therefore, it is vital for offshore crane systems to satisfy rigorous requirements in terms of safety and efficiency. This paper presents the modelling and control development for offshore boom crane systems. A second-order sliding mode control law is proposed for trajectory tracking and sway suppression control, making use of its capability of actuator chattering alleviation while achieving high tracking performance and preserving strong robustness. The asymptotic stability of the closed-loop system is guaranteed in the Lyapunov sense. Simulation results indicate that the proposed controller can significantly reduce the effect of disturbances coming from gusty waves and other dynamic loadings.

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Sliding-Mode Formation Control for Underactuated Surface Vessels

Cited by 171 publications

References 10 publications

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

Suppressing stick‐slip oscillations in underactuated multibody drill‐strings with parametric uncertainties using sliding‐mode control

A survey of underactuated mechanical systems

Trajectory Tracking Control for Offshore Boom Cranes Using Higher-Order Sliding Modes

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