Robust path‐following control based on trajectory linearization control for unmanned surface vehicle with uncertainty of model and actuator saturation

2019 ◽  
Vol 14 (11) ◽  
pp. 1681-1690 ◽  
Author(s):  
Bingbing Qiu ◽  
Guofeng Wang ◽  
Yunsheng Fan ◽  
Dongdong Mu ◽  
Xiaojie Sun
Keyword(s):  
Actuator Saturation ◽  
Path Following ◽  
Unmanned Surface Vehicle ◽  
Path Following Control ◽  
Trajectory Linearization ◽  
Trajectory Linearization Control

scholarly journals Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7454
Author(s):  
Yunsheng Fan ◽  
Bowen Liu ◽  
Guofeng Wang ◽  
Dongdong Mu
Keyword(s):  
Actuator Saturation ◽  
Sliding Mode ◽  
Path Following ◽  
Design Parameters ◽  
Real Time Control ◽  
Sideslip Angle ◽  
Terminal Sliding Mode ◽  
Unmanned Surface Vehicle ◽  
Control Approach ◽  
Unknown Disturbances

This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.

Path following control for a stratospheric airship with actuator saturation

2016 ◽  
Vol 39 (7) ◽  
pp. 987-999 ◽  
Author(s):  
Zewei Zheng ◽  
Keyu Yan ◽  
Shuaixian Yu ◽  
Bing Zhu ◽  
Ming Zhu
Keyword(s):  
Attitude Control ◽  
Closed Loop ◽  
Actuator Saturation ◽  
Path Following ◽  
Stratospheric Airship ◽  
Closed Loop Systems ◽  
Path Following Control ◽  
Control Scheme ◽  
Control Schemes ◽  
Guidance Laws

This paper proposes two different path following control schemes for a stratospheric airship with actuator saturation. Each of the control schemes consists of a guidance loop and an attitude control loop. In both schemes, guidance laws are designed according to the line-of-sight guidance-based path following principle. In the first control scheme, a robust H∞ controller without constraints is designed based on the planar model of a stratospheric airship to stabilize path-following errors. The input constraints are then addressed by using a regional [Formula: see text]-based model recovery anti-windup compensator, which prevents the unconstrained controller from misbehaving in the constrained closed loop with anti-windup augmentation and ensures the systematic stability. In the second control scheme, model predictive control is applied to guarantee the path-following of the closed-loop system and explicitly address the magnitude and rate of rudders of the stratospheric airship. Theoretical results are illustrated by numerical simulations where both closed-loop systems are capable of following their desired paths and the constraints on control inputs are satisfied.

Sign in / Sign up

Export Citation Format

Share Document