Tracking of REMUS autonomous underwater vehicles with actuator saturations

Kim, Do Wan

doi:10.1016/j.automatica.2015.04.029

Cited by 59 publications

(34 citation statements)

References 22 publications

(49 reference statements)

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“…The interested problem becomes an asymptotic stabilization of the error dynamics with respect to the desired yaw angle and surge speed. Contrary to the previous LMI result [7], the proposed approach is based on not the cruciform stern but X-stern. Moreover, when    the control input, the rudder angle presented in [7] may make the given system unstable since it depends on , where  is the surge velocity.…”

Section: Introductionmentioning

confidence: 74%

“…Contrary to the previous LMI result [7], the proposed approach is based on not the cruciform stern but X-stern. Moreover, when    the control input, the rudder angle presented in [7] may make the given system unstable since it depends on , where  is the surge velocity. It is proved that under the proposed control scheme, the tracking and speed control problems can be tackled separately.…”

Section: Introductionmentioning

confidence: 74%

“…For the waypoint tracking of UUVs with the cruciform stern, several design methodologies have been introduced in the literatures, such as sliding model control [1,2], model predictive control [3], backstepping technique [4][5][6], linear matrix inequality (LMI)-based design approach [7]. However, contrary to various research efforts in the case of the cruciform stern, there is a lack of control studies on UUVs with X-stern regardless of the improved control effectiveness of large diameter UUVs (LDUUVs) [8].…”

Section: Introductionmentioning

confidence: 99%

“…Remark 2: In [7], the control input δ, the rudder angle depends on , and thereby,    may make the given UUV unstable. Contrary to [7], the proposed approach does not have this problem since (5) is independent on .…”

mentioning

confidence: 99%

See 3 more Smart Citations

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Kim¹,

Kim²,

Park³

et al. 2017

The Transactions of The Korean Institute of Electrical Engineer

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-This paper focuses on a horizontal waypoint tracking and a speed control of large diameter unmanned underwater vehicles (LDUUVs) with X-stern configuration plane. The concerned design problem is converted into an asymptotic stabilization of the error dynamics with respect to the desired yaw angle and surge speed. It is proved that the error dynamics under the proposed control scheme based on the linear control and the feedback linearization can be considered as a cascade system; the cascade system is asymptotically stable if its nominal systems are so. This stability connection enables to separately deal with the waypoint tracking problem and the speed control one. By using the sector nonlinearity, the nominal system with nonlinearities is modeled as a polytopic linear parameter varying (LPV) system with parametric uncertainties. Then, sufficient linear matrix inequality (LMI) conditions for its asymptotic stabilizability are derived in the sense of Lyapunov stability criterion. An example is given to show the validity of the proposed methodology.

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Section: Introductionmentioning

confidence: 74%

Section: Introductionmentioning

confidence: 74%

Section: Introductionmentioning

confidence: 99%

mentioning

confidence: 99%

See 2 more Smart Citations

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Kim¹,

Kim²,

Park³

et al. 2017

The Transactions of The Korean Institute of Electrical Engineer

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“…Recently, several techniques involving the control of unmanned underwater vehicles (UUVs) have been proposed in [1]- [7], which are based on their mathematical model. The mathematical model contains hydrodynamic forces and moments expressed in terms of a set of hydrodynamic coefficients [13].…”

Section: Introductionmentioning

confidence: 99%

Robust Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with Uncertain Hydrodynamic Coefficients

Kim¹,

Park²,

Park³

et al. 2017

The Transactions of The Korean Institute of Electrical Engineer

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-This paper addresses on an linear matrix inequality (LMI) formulation of the robust waypoint tracking problem of large diameter unmanned underwater vehicles (LDUUVs) in the horizontal plane. The interested design issue can be reformed as the robust asymptotic stabilization of the provided error dynamics with respect to the desired yaw angle, surge speed and attitude. Sufficient conditions for its robust asymptotic stabilizability against the hydrodynamic uncertainties are derived in the format of LMI. An example is provided to testify the validity of the proposed theoretical claims.

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Robust Tracking Control and Stabilization of Underactuated Ships

2017

Asian Journal of Control

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This paper addresses the problem of tracking control and stabilization for underactuated ships subjected to parametric modeling uncertainties. By designing a novel error state transformation scheme, some auxiliary variables are provided to be regarded as additional virtual control signals, while these variables can change their structures for different reference trajectories. Then, a robust control scheme is presented to achieve practical convergence of tracking errors and the ship's velocities to bounded neighborhoods of the origin. Simulation results are performed to illustrate the effectiveness of the proposed control scheme.

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Tracking of REMUS autonomous underwater vehicles with actuator saturations

Cited by 59 publications

References 22 publications

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with X-stern Configuration

Robust Waypoint Tracking of Large Diameter Unmanned Underwater Vehicles with Uncertain Hydrodynamic Coefficients

Robust Tracking Control and Stabilization of Underactuated Ships

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