Sliding mode tracking control of surface vessels

Ashrafiuon, Hashem; Muske, Kenneth R.

doi:10.1109/acc.2008.4586550

Cited by 72 publications

(92 citation statements)

References 18 publications

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“…The reference book [14] surveys the main automatic control issues for an ASV, including tracking control and dynamic positioning. For under-actuated vessels, i.e., those unable to apply forces in all directions, tracking control approaches have been more recently investigated in [18], [2] and [9], while dynamic positioning techniques have been investigated in [20], [21] and [3].…”

Section: Introductionmentioning

confidence: 99%

Cooperative caging using autonomous aquatic surface vehicles

Arrichiello

Heidarsson

Chiaverini

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-We present a study on the use of cooperative robots to execute a caging mission on the water's surface. In particular, we consider the problem of using two robotic boats (under-actuated autonomous surface vessels) connected with a floating rope, to 'capture' a floating object from a known location on the water's surface and 'shepherd' it to a designated position. This paper focuses on the cooperative control strategy of the two vessels. Each vessel's behavior is governed by a supervisor software module that handles the communication with the other vessel and controls all elementary tasks that compose the overall mission. The elementary tasks, specifically developed for under-actuated vessels, are arranged by priority, and merged using a behavior-based approach, namely the NullSpace based Behavioral control. The proposed technique is validated by field experiments with two autonomous robotic boats on the surface of a lake.

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Section: Introductionmentioning

confidence: 99%

Cooperative caging using autonomous aquatic surface vehicles

Arrichiello

Heidarsson

Chiaverini

et al. 2010

2010 IEEE International Conference on Robotics and Automation

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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%

“…SMC has succeeded in the applications of control of underactuated satellite [131], surface vessel [85,132], helicopter [133], wheeled inverted pendulum [31], ball-and-beam system [134], underactuated fuel cell system [135], TORA [136], underactuated biped robot [137], and overhead crane [138]. Meanwhile, many researchers also devoted themselves to design universal SMC for the UMSs that have the same dynamic characteristics, e.g.…”

Section: Sliding Mode Controlmentioning

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 tracking control of surface vessels

Cited by 72 publications

References 18 publications

Cooperative caging using autonomous aquatic surface vehicles

Cooperative caging using autonomous aquatic surface vehicles

A survey of underactuated mechanical systems

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

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