Tracking controllers of nonlinear output‐constrained surface ships subjected to external disturbances

Zhang, Zhongcai; Tian, Linran

doi:10.1002/acs.3353

Cited by 5 publications

(5 citation statements)

References 72 publications

(104 reference statements)

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“…In order to accomplish the aforementioned tasks, a cooperative controller is required such that the multiagent system attains the anticipated group behavior based on individual dynamic models and the information sharing among these agents [3]. In literature, several linear, nonlinear, fuzzy, and observer-based techniques are employed to design cooperative controllers such as [4][5][6][7][8][9][10]. Cooperative control can either be centralized or decentralized [11].…”

Section: Introductionmentioning

confidence: 99%

“…In another research, the consensus problem was addressed under input saturation constraints [41]. BLF-based constrained nonlinear control along with a disturbance observer is presented for surface ships [9]. In another study, an output synchronization problem with prescribed constraints is incorporated for nonlinear strict-feedback multiagent systems by utilizing a high-gain observer and adaptive controller [8].…”

Section: Introductionmentioning

confidence: 99%

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Robust Decentralized Formation Tracking Control of Complex Multiagent Systems

Mazhar,

Khan,

Raza

et al. 2024

Complexity

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This article investigates the decentralized formation tracking problem for complex multiagent systems in finite settling time, subjected to output constraints and external disturbances. The barrier Lyapunov function is used to constrain the output of each agent. Therefore, starting inside a closed boundary, the agents are guaranteed to remain inside it for all future time. Under directed communication topology, decentralized time-varying formation tracking is achieved in finite time. Furthermore, in the proposed work, the linear sliding manifold is employed to mitigate the singularity problem that occurs in the conventional robust finite-time methods, i.e., terminal sliding mode-based control schemes. The stability properties of the proposed framework are established through the Lyapunov method which not only ensures the finite-time formation tracking of nonlinear multiagent systems under directed communication but also guarantees that for all time the agents remain inside a closed boundary if they are initially inside it. Consequently, the uniqueness of this article is that it presents a novel formation tracking control framework for multiagent systems that simultaneously considers three performance metrics of robustness, finite-time convergence, and output constraints while mitigating the singularity problem. The proposed topology is validated by implementing the numerical examples in MATLAB/SIMULINK.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Decentralized Formation Tracking Control of Complex Multiagent Systems

Mazhar,

Khan,

Raza

et al. 2024

Complexity

View full text Add to dashboard Cite

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“…14 The BLF-based controller can preset a boundary, when the constrained variable approaches the preset boundary, the value of the BLF will increase so that the variable remains within the boundary. 15 Due to the above characteristics, the BLF-based control method can preset a boundary for the tracking error, so that the tracking error remains within the preset boundary to achieve the purpose of improving the transient and steady response. A time-invariant BLF-based controller is proposed for an upper limb exoskeleton, 14 in which the BLF can ensure that the tracking error is within a preset boundary, so as to ensure that the subject's motion trajectory will not exceed the safe range.…”

Section: Introductionmentioning

confidence: 99%

“…To enhance the accuracy performance of the controller and improve the transient and steady response, a barrier Lyapunov function (BLF)‐based controller is proposed 14 . The BLF‐based controller can preset a boundary, when the constrained variable approaches the preset boundary, the value of the BLF will increase so that the variable remains within the boundary 15 . Due to the above characteristics, the BLF‐based control method can preset a boundary for the tracking error, so that the tracking error remains within the preset boundary to achieve the purpose of improving the transient and steady response.…”

Section: Introductionmentioning

confidence: 99%

Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

Wei

Wang

Tian

2023

Adaptive Control & Signal

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Summary In this work, an asymmetric time‐varying barrier Lyapunov function‐based model‐free hybrid force/position controller (ABLF‐MFC) is proposed for the series elastic actuator‐based 2‐DOF manipulator. Inspired by large surface machining, many scenarios require hybrid force/position control, and the simple position control can no longer meet the above requirements. Therefore, ABLF‐MFC with a dual‐loop structure is established, which are force sub‐control loop and position sub‐control loop. Based on the idea of admittance control, the force sub‐control loop generates a reference trajectory according to the desired interaction force and trajectory. Then, for the position sub‐control loop, to simplify the controller design process, an ultra‐local model (ULM) is introduced, which can approximate the original system. Since the ULM has an unknown term, time‐delay estimation (TDE) is applied to estimate it, which can also reduce the dependence on accurate model parameters. The position sub‐control loop is designed by an asymmetric time‐varying barrier Lyapunov function, an integral‐type Lyapunov function and an adaptive compensation term, so the tracking error can be kept within the preset boundary while ensuring the convergence, and the TDE estimation error can be compensated. Rigorous mathematical proofs and simulation results verify the effectiveness of ABLF‐MFC.

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“…In [22], a tan-type BLF is introduced into the energy function to solve the position constraints problem of the manipulator. In [23], a log-type BLF is employed for the manipulator with full-state constraints. In [24], an ln-type BLF is adopted for a robot with output constraints.…”

Section: Introductionmentioning

confidence: 99%

Gain Function-Based Visual Tracking Control for Inertial Stabilized Platform with Output Constraints and Disturbances

2022

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In this paper, a composite control strategy is proposed to deal with output constraints and disturbances of the visual tracking system for an inertial stabilized platform, which combines active disturbance compensation and the variable gain function technique. Firstly, the model of system considering multi-source disturbances is established, where the controlled output is the constrained position of the target in the image plane. Secondly, in order to avoid the tracked target being lost in the field of view of the camera, a control method based on the variable gain function technique is designed to ensure that the controlled output remains within the feasible range. Moreover, the active disturbance estimation and compensation method is introduced to improve the anti-disturbance ability of the system under the situation of small output error, obtaining satisfactory tracking performance. The stability analysis and the proof of constrained output are given following the controller design. Finally, results of simulation and experiments are shown to illustrate the promised advantages of the proposed composite control approach.

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Tracking controllers of nonlinear output‐constrained surface ships subjected to external disturbances

Cited by 5 publications

References 72 publications

Robust Decentralized Formation Tracking Control of Complex Multiagent Systems

Robust Decentralized Formation Tracking Control of Complex Multiagent Systems

Asymmetric time‐varying BLF‐based model‐free hybrid force/position control for SEA‐based 2‐DOF manipulator

Gain Function-Based Visual Tracking Control for Inertial Stabilized Platform with Output Constraints and Disturbances

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