Trajectory tracking of under-actuated ships based on optimal sliding mode control with state observer

Li, Zongxuan; Bu, Renxiang

doi:10.1016/j.oceaneng.2021.109186

Cited by 17 publications

(7 citation statements)

References 16 publications

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“…τdr = −l 2 tanh(λ 1 ( φ − ϕ)) (10) where l 0 , l 1 , and l 2 are positive parameters, which could adjust the feedback range of estimation errors. Increasing their values within a certain range can improve the estimation accuracy, but it also brings oscillations as a result [27]. r, τdr , and φ represent the respective estimated values, and b 0 is the compensation factor.…”

Section: Uncertainty Consideration and Disturbance Estimationmentioning

confidence: 99%

“…According to the UBVMS dynamic model (see Equation (1)), the disturbance moment observer of the external environment in the yaw direction can be:

where

, and

are positive parameters, which could adjust the feedback range of estimation errors. Increasing their values within a certain range can improve the estimation accuracy, but it also brings oscillations as a result [ 27 ].

, and

represent the respective estimated values, and

is the compensation factor.…”

Section: Problem Formulationmentioning

confidence: 99%

See 1 more Smart Citation

Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System

Wang

2023

Sensors

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This paper addresses the problem of path following and dynamic obstacle avoidance for an underwater biomimetic vehicle-manipulator system (UBVMS). Firstly, the general kinematic and dynamic models of underwater vehicles are presented; then, a nonlinear model predictive control (NMPC) scheme is employed to track a reference path and collision avoidance simultaneously. Moreover, to minimize the tracking error and for a higher degree of robustness, improved extended state observers are used to estimate model uncertainties and disturbances to be fed into the NMPC prediction model. On top of this, the proposed method also considers the uncertainty of the state estimator, while combining a priori estimation of the Kalman filter to reasonably predict the position of dynamic obstacles during short periods. Finally, simulations and experimental results are carried out to assess the validity of the proposed method in case of disturbances and constraints.

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Section: Uncertainty Consideration and Disturbance Estimationmentioning

confidence: 99%

“…According to the UBVMS dynamic model (see Equation (1)), the disturbance moment observer of the external environment in the yaw direction can be:

where

, and

represent the respective estimated values, and

is the compensation factor.…”

Section: Problem Formulationmentioning

confidence: 99%

Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System

Wang

2023

Sensors

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show abstract

“…USVs have become an important tool for overwater patrol, anti‐terrorism tasks, rescue operations [3], water quality testing and surveying among other applications. USVs navigate by completing a series of motion control tasks such as path following [4], set‐point regulation [5], trajectory tracking [6] as well as automatic berthing [7]. However, because of the complexity of the environment, the improving control of USVs is necessary [8].…”

Section: Introductionmentioning

confidence: 99%

Trajectory‐tracking control of an unmanned surface vehicle based on characteristic modelling approach: Implementation and field testing

Meng

Yang

2023

IET Cyber-Syst and Robotics

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In this study, a practical adaptive control scheme is proposed for the trajectory tracking of an unmanned surface vehicle via the characteristic modelling approach. Therefore, accurate tracking control can be achieved in the presence of unknown time-varying model parameters and environmental disturbances. The control scheme comprises a trajectory guidance module based on the virtual target approach and a tracking control module designed by characteristic modelling theory. Firstly, the ideal control commands of the yaw speed and surge speed are generated using the position errors between the vehicle and the virtual target. Then, a second-order characteristic model for the heading and surge speed channel is developed. The parameters of the model are updated by a real-time parameter identification algorithm. Based on this model, an integrated adaptive control law is designed which consists of golden-section control, feed-forward control and integral control. Finally, the development processes of the vehicle platform and the control algorithms are described, and the results of simulation and field experiments are presented and discussed.

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“…In (Mahmoodabadi and Soleymani, 2020), an optimal fuzzy robust decoupled SMC based on adaptive feedback linearization technique is suggested for the nonlinear systems with parametric uncertainties. The tracking control of ships using optimal SMC state observer is proposed in (Li and Bu, 2021), where the system is under model uncertainty, external disturbance, and input constraint. In (Mousavi and Markazi, 2021), a robust predictive adaptive fuzzy SMC approach is designed for continuous-time nonlinear systems in the existence of state-dependent uncertainties and input saturations.…”

Section: Introductionmentioning

confidence: 99%

Finite-time convergence of perturbed nonlinear systems using adaptive barrier-function nonsingular sliding mode control with experimental validation

Mofid

Amirkhani

Din

et al. 2022

Journal of Vibration and Control

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In this study, an adaptive barrier procedure is combined with nonsingular sliding mode control (SMC) technique at the aim of the fast stabilization of nonlinear system with external disturbances. It is verified that the barred function-based control law leads to the fast convergence of state errors to a region near origin. Furthermore, the suggested method eradicates the requirement for the knowledge of upper bounds of exterior perturbations which are frequently required in SMC scheme. The stability analysis confirms fast convergence of the error states to a predetermined region. In order to demonstrate the validity of the planned method, a mass-spring system is examined as the case study. Finally, simulation and experimental outcomes on a mass-spring system are given to prove the efficacy and success of the advised methodology.

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Trajectory tracking of under-actuated ships based on optimal sliding mode control with state observer

Cited by 17 publications

References 16 publications

Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System

Path Following and Collision Avoidance of a Ribbon-Fin Propelled Underwater Biomimetic Vehicle-Manipulator System

Trajectory‐tracking control of an unmanned surface vehicle based on characteristic modelling approach: Implementation and field testing

Finite-time convergence of perturbed nonlinear systems using adaptive barrier-function nonsingular sliding mode control with experimental validation

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