Trajectory planning and tracking control for underactuated unmanned surface vessels

Liao, Yulei; Su, Yumin; Cao, Jian

doi:10.1007/s11771-014-1972-x

Cited by 33 publications

(14 citation statements)

References 23 publications

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“…The major solutions of trajectory tracking problem are the method of feedback linearization, backstepping approach, Lyapunov's direct method, cascade system method, robust control, sliding mode control, and so on. Some scholars used the backstepping approach and Lyapunov's direct method to resolve the trajectory tracking problem of the USV system 2 Mathematical Problems in Engineering [8,9]; the result showed that the controller can still force the trajectory. In paper [10], a sliding mode trajectory tracking controller was developed, and the result showed that the USV could track circular and straight line trajectory.…”

Section: Introductionmentioning

confidence: 99%

Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Hua

et al. 2018

Mathematical Problems in Engineering

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This paper proposes a novel nonlinear control scheme based on energy-shaping (ES) principle and state error port-controlled Hamiltonian (PCH) systems for unmanned surface vehicles (USV) system. The PCH model of three degrees of freedom for USV kinetics system is established. By the ES principle, interconnection assignment and damping injection method is applied to the speed and heading control of the closed-loop USV system to realize an overall stability of control mechanism. Simulation results show that the validity and stability of control algorithm can be satisfied with the performance in speed and heading tracking of which the high simplification and portability make it applicable to the various region.

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Section: Introductionmentioning

confidence: 99%

Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Hua

et al. 2018

Mathematical Problems in Engineering

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“…The controller in [14] comprises an equivalent controller and a switching controller, where the switching controller compensates for the uncertainties of the vehicle's hydrodynamic and hydrostatic parameters. Backstepping techniques are utilized in [15][16][17][18][19][20] to design trajectory-tracking controllers for UMVs. An observer is constructed to provide an estimation of unknown disturbances in [18].…”

Section: Introductionmentioning

confidence: 99%

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

Dong

Wan

Liu

et al. 2016

International Journal of Advanced Robotic Systems

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Based on an integral backstepping approach, a trajectorytracking control algorithm is proposed for an underactuated unmanned marine vehicle (UMV) sailing in the presence of ocean-current disturbance. Taking into consideration the UMV model's fore/aft asymmetry, a nonlinear threedegree-of-freedom (3DOF) underactuated dynamic model is established for the horizontal plane. First, trajectorytracking differences between controllers designed based on symmetric and asymmetric models of the UMV are discussed. In order to explicitly study the effect of oceancurrent interference on the trajectory-tracking controller, the ocean current is integrated into the kinematic and dynamic models of the UMV. Detailed descriptions of distinct trajectory-tracking control performances in the presence of different ocean-current velocities and direction angles are presented. The well-known persistent exciting (PE) condition is completely released in the designed trajectory-tracking controller. A mild integral item of trajectory tracking error is merged into the control law, and global stability analysis of the UMV system is carried out using Lyapunov theory and Barbalat's Lemma. Simulation experiments in the semi-physical simulation platform are implemented to confirm the effectiveness and superiority of the excogitated control algorithm.

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“…We may see its influence on the behavior of small boats, research vessels and unmanned surface vessels doing bathymetric tasks, laser scanning of the cliffs or infrastructure of harbor facilities [7,9,11,14,17,18]. The mathematical description of that phenomenon gives us the possibility to improve the quality of the data [22] dedicated to the spatial information systems and electronical navigational charts [16,20] integrating information about shore infrastructure, shape of the sea bottom and waterways in the vicinity of the ports [12,13,15,21].…”

Section: Introductionmentioning

confidence: 99%

Information About Dynamics of the Sea Surface as a Means to Improve Safety of the Unmanned Vessel at Sea

Przyborski

2016

Polish Maritime Research

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One of the fundamental states of the sea surface is its heave. Despite of years of the intense scientific inquiry, no clear understanding of the influence of this aspect on the dynamics of the sea environment has emerged. The separation of two nearby fluid elements which one may observed for example as a free floating of small objects on the sea surface (rescuers on the rough sea or small research vessels) is caused by the interaction of different components. On the other hand one may say that the heave of the sea is also a summary interaction of a few components describing the dynamics of the sea. Therefore it is the most important aspect, which influenced the dispersion phenomenon. This observation has important consequences for many different problems as for example conducting

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Trajectory planning and tracking control for underactuated unmanned surface vessels

Cited by 33 publications

References 23 publications

Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Speed and Heading Control of an Unmanned Surface Vehicle Based on State Error PCH Principle

Horizontal-Plane Trajectory-Tracking Control of an Underactuated Unmanned Marine Vehicle in the Presence of Ocean Currents

Information About Dynamics of the Sea Surface as a Means to Improve Safety of the Unmanned Vessel at Sea

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