Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicle With Incomplete Underactuated Inputs

Sun, Xiaojie; Wang, Guofeng; Fan, Yunsheng

doi:10.1109/joe.2022.3154798

Cited by 3 publications

(3 citation statements)

References 54 publications

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“…The new parameter used is: p 33 = m 33 − (m 2 13 /m 11 ). Recalling again the source reference [38] and Υ 13 from Equation (7) (also applied in (30)), it may be observed that the only difference is due to the presence of Υ 13 . The equations of motion, such as those in the cited publication, will occur in the case where it is assumed that Υ 13 = 0, that is, in the absence of the element m 13 .…”

Section: Relationship To Original Description Of Dynamicsmentioning

confidence: 99%

“…There are also many other algorithms for trajectory tracking, such as terminal sliding mode control (TSMC) [18], output feedback control [19] and the linear algebra approach [20]. In order to achieve good performance of control algorithms, combinations of different methods are often proposed, e.g., the backstepping and Lyapunov methods [21], backstepping and SMC (plus Lyapunov stability theory) [22,23], NN and SMC [24,25], NN and SMC plus backstepping [26,27]), backstepping and neural network plus low-frequency techniques [28], event-triggered tracking control with prescribed performance using radial basis function NN (RBFNN) [29], and strategy based on virtual control points and RBFNN [30]. A control scheme which is a combination of an extended state observer (ESO) and a super-twisting second-order sliding mode controller was proposed in [31].…”

Section: Introductionmentioning

confidence: 99%

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Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

Herman

2023

Applied Sciences

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This paper considers a trajectory-tracking control algorithm for underactuated marine vehicles moving horizontally in which the current in the North-East-Down frame is constant. This algorithm is a modification of a control scheme based on the input-output feedback linearization method for which the application condition is that the vehicle is symmetric with respect to the left and right sides. The proposed control scheme can be applied to a fully asymmetric model, and, therefore, the geometric center can be different from the center of mass in both the longitudinal and lateral directions. A velocity transformation to generalized vehicle equations of motion was used to develop a suitable controller. Theoretical considerations were supported by simulation tests performed for a model with 3 degrees of freedom, in which the performance of the proposed algorithm was compared with that of the original algorithm and the selected control scheme based on a combination of backstepping and integral sliding mode control approaches.

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Section: Relationship To Original Description Of Dynamicsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

Herman

2023

Applied Sciences

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“…Unmanned surface vessels (USVs) are an emerging technology equipment used for marine resource surveys, maritime defense, and other surface operation tasks. They play a vital role in various fields, including the military, people's livelihoods, and scientific research [1,2]. Accurate trajectory tracking is crucial for reliable and autonomous USV operation in different scenarios which therefore has significant research value and practical significance.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Trajectory Tracking Control of Unmanned Surface Vessels with Prescribed Performance Constraints

Sui

Zhang

et al. 2023

Electronics

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This study proposes a fixed-time precision tracking control scheme for unmanned surface vessels with complex disturbances and unknown system dynamics. The control scheme is based on a nonsingular fast terminal sliding mode and includes an adaptive fixed-time integral sliding mode lumped disturbance observer to precisely observe and compensate for lumped unknowns. To ensure system performance under both transient and steady-state conditions, a prescribed performance function was utilized to enable the trajectory tracking error to converge to a predetermined range. The proposed control scheme, called prescribed performance fixed-time precision tracking (PPFTPT), was designed to achieve precision tracking of a predetermined trajectory within a fixed time. The stability of the closed-loop system was analyzed using the Lyapunov stability theory. Simulation results using the Cybership II model confirmed the feasibility and superiority of the proposed PPFTPT scheme.

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Disturbance observer based adaptive trajectory tracking control for Unmanned Surface Vehicle with input and state quantization

Wang,

Li,

Ning

et al. 2024

Ocean Engineering

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Trajectory Tracking Control for Vector Propulsion Unmanned Surface Vehicle With Incomplete Underactuated Inputs

Cited by 3 publications

References 54 publications

Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane

Fixed-Time Trajectory Tracking Control of Unmanned Surface Vessels with Prescribed Performance Constraints

Disturbance observer based adaptive trajectory tracking control for Unmanned Surface Vehicle with input and state quantization

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