Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

Liu, Jinbiao; Luo, Jun; Cui, Jianxiang; Peng, Yan

doi:10.1051/matecconf/20167709009

Cited by 4 publications

(2 citation statements)

References 8 publications

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“…In addition, the environmental disturbances in ocean or sea have not been considered there. In [10], a backstepping control approach combined with sliding mode control algorithm was designed to address the trajectory tracking problem of an underactuated USV. An autonomous robotic boat was presented in [11], and for its controller, a nonlinear model predictive control (NMPC) was adopted.…”

Section: Introductionmentioning

confidence: 99%

Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm

Esfahani

Szlapczynski

2021

J Mar Sci Technol

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This paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking control of autonomous ship maneuvering. We adopt a Time-Delay Control (TDC) approach, which is known as a simple, practical, model free and roughly robust strategy, combined with an Actor-Critic Approximate Dynamic Programming (ACADP) algorithm as an adaptive part in the proposed hybrid control algorithm. Based on this integration, Actor-Critic Time-Delay Control (AC-TDC) is proposed. It offers a high-performance robust-adaptive control approach for path following of autonomous ships under deterministic and stochastic disturbances induced by the winds, waves, and ocean currents. Computer simulations have been conducted under two different conditions in terms of the deterministic and stochastic disturbances and all simulation results indicate an acceptable performance in tracking of paths for the proposed control algorithm in comparison with the conventional TDC approach.

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Section: Introductionmentioning

confidence: 99%

Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm

Esfahani

Szlapczynski

2021

J Mar Sci Technol

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“…Also, the sea environmental disturbances have not been considered there. In [5], a back-stepping control approach combined with sliding mode control algorithm was designed to cover the trajectory tracking problem of an under-actuated USV. An autonomous robotic boat was presented in [6] and a nonlinear model predictive control (NMPC) was adopted for its controller.…”

Section: Introductionmentioning

confidence: 99%

Model Predictive Super-Twisting Sliding Mode Control for an Autonomous Surface Vehicle

Esfahani

Szlapczynski

2019

Polish Maritime Research

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This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive Super-Twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the Super-Twisting Sliding Mode Control (STSMC) algorithm.

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Development of an Automatic Anti Pitching System (APS) Autonomous Surface Vehicle (ASV) for Fish Mapping

Saputra

Lukmana

Suranto

2020

J. Phys.: Conf. Ser.

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The common problem occurs in fish mapping using autonomous surface vehicles (ASV) is pitching stability. Some researchers have indicated that problem affects the results of mapping. The target of this system is to design an Autonomous Pitching System (APS) for ASV using numerical simulation software. The simulation is done by implement APS into the system, producing an oscillatory motion from the ASV. For both dynamics of craft in short and long periods, APS with proportional controller (P), proportional-integral controller (PI), and proportional-integral-derivative controller (PID) are developed in order to minimize the oscillatory behaviour. It was found that for the short period dynamics, the APS with PI controller was the optimal controller, followed by the PID controller and then the P controller. For the long period dynamics, the APS with PID controller was optimal.

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Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference

Cited by 4 publications

References 8 publications

Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm

Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm

Model Predictive Super-Twisting Sliding Mode Control for an Autonomous Surface Vehicle

Development of an Automatic Anti Pitching System (APS) Autonomous Surface Vehicle (ASV) for Fish Mapping

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