Sliding mode setpoint control of an underactuated surface vessel: Simulation and experiment

McNinch, Lucas C.; Ashrafiuon, Hashem; Muske, Kenneth R.

doi:10.1109/acc.2010.5530451

Cited by 13 publications

(12 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…McNinch et al [13] proposed a sliding mode control approach to setpoint control of underactuated surface vessels based on the finite-time control concepts presented in [67], [68]. The method is implemented experimentally on a small model surface vessel with two propellers where an overhead camera is used for position and orientation feedback.…”

Section: A Discontinuous Setpoint Controlmentioning

confidence: 99%

“…With the exception of simple autopilot controls that only attempt to maintain vessel heading and speed, there is also a lack of experimental implementation. To our knowledge, the only experimental work for the underactuated surface vessel control approaches considered in this review is [13], [16], [18], [24] for setpoint stabilization and [33], [37], [42], [44], [47]- [49] for trajectory tracking/path following. This experimental work is carried out using small model vessels rather than actual unmanned surface vessel system platforms.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, the setpoint control approaches are divided into discontinuous and smooth time-varying controllers in the review. The discontinuous setpoint control laws have been proposed in [9]- [13]. The smooth timevarying setpoint control laws have been proposed in [14]- [25].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles

Ashrafiuon

Muske

McNinch

2010

Proceedings of the 2010 American Control Conference

Self Cite

View full text Add to dashboard Cite

A review of different approaches to setpoint, trajectory tracking, and path following control for autonomous underactuated surface vessels is presented in this work. The review is focused on rigorous control approaches developed using planar autonomous surface vessel models over approximately the last two decades. The controllers are categorized into setpoint, trajectory tracking, and path following approaches with further classification into discontinuous and smooth timevarying control laws for the setpoint control approaches. An overview of the formulation, advantages, and disadvantages of each approach is presented. Although much progress has been made in autonomous underactuated surface vessel control, there remains a need for the evolution of these approaches to achieve robust, real-time control laws that can be implemented on actual autonomous Unmanned Surface Vessel (USV) platforms in the presence of high sea states and external disturbances in uncertain and unstructured environments.

show abstract

Section: A Discontinuous Setpoint Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles

Ashrafiuon

Muske

McNinch

2010

Proceedings of the 2010 American Control Conference

Self Cite

View full text Add to dashboard Cite

show abstract

“…In addition to this, linearization becomes difficult via smooth feedback [1] for a large class of underactuated systems and control design varies from system to system (in accordance with their dynamics) [7]. In the context of control design, well-established works on the considered underactuated system includes, passivity-based control [8], adaptive control [9], optimal control [10] and feedback linearization [11], etc. However, these control techniques become not fully applicable to a broad class of underactuated systems due to difficulty in linearization [2].…”

Section: Introductionmentioning

confidence: 99%

Smooth super-twisting sliding mode control for the class of underactuated systems

2018

View full text Add to dashboard Cite

In this article, Smooth Super-twisting Sliding Mode Control (SSTWSMC) is investigated for the class of underactuated system. In underactuated systems, the control design is not directly applicable as for other systems (known as fully actuated systems). Therefore, at initial step, a nonlinear uncertain model of systems is transformed into the controllable canonical form, and then Smooth Super Twisting (SSTW) based Sliding Mode Control (SMC) is devised for the control design purpose for the considered class. In addition, closed loop stability of the proposed technique is presented in a fascinating way. The effectiveness and supremacy of the proposed control technique is proven by extensive analysis between conventional Sliding Mode Control (SMC), Super twisting (STW) sliding mode control and Smooth Super-twisting Sliding Mode Control (SSTWSMC). The comprehensive analysis evaluates the attributes like robustness enhancement, settling time, control effort, chattering reduction, overshoot, sliding mode convergence, etc. and is supported by simulations as well as practical implementation on ball and beam balancer (which is considered as application example).

show abstract

“…Setpoint control is required for dynamic positioning of vessels in fixed target operations such as autonomous docking. Due to the nature of underactuated systems, the surface vessel setpoint control approaches are only presented as either discontinuous [1][2][3][4][5] or continuous time-varying control laws [6][7][8][9][10][11][12][13][14][15][16][17]. Trajectory tracking control [14,[18][19][20][21][22][23][24][25][26][27][28][29][30][31][32][33][34] is concerned with the design of control laws that force a vehicle to reach and follow a time parameterized reference whereas path following control [35][36][37][38][39][40][41][42][43][44][45][46] methods follow a predefined path that involves only a spatial constraint.…”

Section: Introductionmentioning

confidence: 99%

Guidance, navigation, and control of an unmanned hovercraft

Kim

Lee

et al. 2013

21st Mediterranean Conference on Control and Automation

View full text Add to dashboard Cite

Abstract² This paper introduces a simulation and evaluation of guidance, navigation, and control algorithms applied to an autonomous hovercraft. A line-of-sight guidance law is adopted in conjunction with a neural network based adaptive dynamic inversion control scheme for the underactuated hovercraft following a prescribed path. The simulation result demonstrates that the guidance and control scheme can be effective in waypoint following of the underactuated hovercraft, especially, when external disturbances exist. It is also shown that the error VLJQDOV DUH ERXQGHG XVLQJ /\DSXQRY ¶V GLUHFW PHWKRG I.

show abstract

Sliding mode setpoint control of an underactuated surface vessel: Simulation and experiment

Cited by 13 publications

References 22 publications

Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles

Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles

Smooth super-twisting sliding mode control for the class of underactuated systems

Guidance, navigation, and control of an unmanned hovercraft

Contact Info

Product

Resources

About