Path following control system for a tanker ship model

2007 ◽  
Vol 34 (14-15) ◽  
pp. 2074-2085 ◽  
Author(s):  
Lúcia Moreira ◽  
Thor I. Fossen ◽  
C. Guedes Soares
Keyword(s):  
Control System ◽  
Path Following ◽  
Ship Model ◽  
Path Following Control

scholarly journals Modified Vector Field Path-Following Control System for an Underactuated Autonomous Surface Ship Modelin the Presence of Static Obstacles

2021 ◽  
Vol 9 (6) ◽  
pp. 652
Author(s):  
Haitong Xu ◽  
Miguel A. Hinostroza ◽  
C. Guedes Guedes Soares
Keyword(s):  
Control System ◽  
Vector Field ◽  
Path Following ◽  
Field Method ◽  
Integrated System ◽  
Ship Model ◽  
Surface Ship ◽  
Path Following Control ◽  
Exponentially Stable ◽  
Vector Field Method

A modified path-following control system using the vector field method for an underactuated autonomous surface ship model is proposed in the presence of static obstacles. With this integrated system, autonomous ships are capable of following the predefined path, while avoiding the obstacles automatically. It is different from the methods in most published papers, which usually study path-following and obstacle collision avoidance, separately. This paper considers the coupled path following and collision avoidance task as a whole. Meanwhile, the paper also shows the heading control design method in the presence of static obstacles. To obtain a strong stability property, a nonlinear autopilot is designed based on the manoeuvring tests of the free-running ship model. The equilibrium point of the controller is globally exponentially stable. For the guidance system, a novel vector field method was proposed, and the proof shows the coupled guidance and control system is uniform semi-global exponentially stable (USGES). To prevent the obstacles near the predefined path, the proposed guidance law is augmented by integrating the repelling field of obstacles so that it can control the ship travel toward the predefined path through the obstacles safely. The repelling field function is given considering the obstacle shape and collision risk using the velocity obstacle (VO) algorithm. The simulations and ship model test were performed to validate the integrated system of autonomous ships.

scholarly journals Adaptive Path Following Control System for Unmanned Surface Vehicles

2020 ◽  
Vol 56 (8) ◽  
pp. 216
Author(s):  
LIU Chenguang ◽  
CHU Xiumin ◽  
MAO Qingzhou ◽  
XIE Shuo
Keyword(s):  
Control System ◽  
Path Following ◽  
Unmanned Surface Vehicles ◽  
Path Following Control

scholarly journals NESO-Based Path Following Control for Underactuated Hovercrafts with Unknown Nonlinear Uncertainties and a Safety Limit Constraint

2020 ◽  
Vol 10 (15) ◽  
pp. 5287
Author(s):  
Yuanhui Wang ◽  
Haiyan Tong ◽  
Hongliang Ren
Keyword(s):  
Control System ◽  
Sliding Mode ◽  
Path Following ◽  
Time Varying ◽  
Loop Control ◽  
Path Following Control ◽  
Loop Control System ◽  
Surge Control ◽  
Nonlinear Extended State Observer ◽  
Safety Limit

In this brief, the path following control problem of underactuated hovercrafts subject to nonlinear time-varying uncertainties and a safety limit constraint (SLC) is addressed. A novel homogenous nonlinear extended state observer (NESO)-based safe motion controller for a path following control scenario of underactuated hovercrafts is proposed. First, a NESO is constructed to estimate and compensate the nonlinear time-varying uncertainties for the underactuated hovercraft. Then, a NESO-based backstepping sliding mode control (BSMC) law with a turning SLC is proposed to achieve the yaw control for underactuated hovercrafts, which improves both safety and maneuverability of the underactuated hovercraft during the path following control scenario. The nonlinear time-varying turning SLC is first directly taken into the control system design, which is achieved by introducing an auxiliary dynamic system to limit the virtual input control during the backstepping design process. A NESO-based backstepping surge control law is also designed to achieve the surge control for underactuated hovercrafts. Furthermore, all error signals of the proposed closed-loop control system are proven to be bounded. Finally, an application case is tested on an underactuated hovercraft to illustrate the effectiveness and superiority of the designed control scheme.

Robust guaranteed-cost path-following control for autonomous vehicles on unstructured roads

2017 ◽  
Vol 232 (7) ◽  
pp. 896-908 ◽  
Author(s):  
Jinghua Guo ◽  
Jin Wang ◽  
Ping Hu ◽  
Linhui Li
Keyword(s):  
Control System ◽  
Autonomous Vehicles ◽  
Path Following ◽  
Detection Algorithm ◽  
Parametric Uncertainties ◽  
Tracking Accuracy ◽  
Position Information ◽  
Path Following Control ◽  
Control Scheme ◽  
Guaranteed Cost

This paper deals with the problem of automatic path-following control for a class of autonomous vehicle systems with parametric uncertainties and external disturbances in cross-country conditions. In the unstructured environments, the unevenness, the discontinuity and the variability of the terrain greatly increase the parametric uncertainties and the external perturbations of autonomous vehicles. To overcome these difficulties, a novel automatic path-following control scheme of vision-based autonomous vehicles is presented by utilizing the guaranteed-cost control theory. First, a new road detection algorithm used for segmenting and extracting the traversable path in unstructured terrains is achieved by using a combination consisting of multiple sensors, and the local relative position information between the vehicles and the desired trajectories can be acquired by the proposed detected algorithm in real time. Then, an optimal guaranteed-cost path-following control system is proposed, which can deal with the parametric uncertainties of autonomous vehicles and ensure the stability of the closed-loop control system. Finally, both simulation tests and experimental results demonstrate that the proposed control scheme can guarantee high path-tracking accuracy irrespective of the parametric uncertainties.

Backstepping Control Method for the Trajectory Tracking for the Underactuated Autonomous Underwater Vehicle

2013 ◽  
Vol 798-799 ◽  
pp. 484-488 ◽  
Author(s):  
Lei Wan ◽  
Nan Sun ◽  
Yu Lei Liao
Keyword(s):  
Control System ◽  
Trajectory Tracking ◽  
Autonomous Underwater Vehicle ◽  
Control Method ◽  
Autonomous Underwater Vehicles ◽  
Path Following ◽  
Underactuated System ◽  
Strong Nonlinearity ◽  
Parameter Uncertainties ◽  
Path Following Control

The underactuated autonomous underwater vehicles (AUV) have the characteristics of strong nonlinearity and model uncertainty. A method of backstepping path following control was raised for the trajectory tracking control problem of the AUV under Serret-Frenet frame. It transformed the original underactuated system into an actuated nonlinear system based on simplified analysis. A backstepping trajectory tracking controller was proposed based on backstepping method. By means of Lyapunov stability theory, it was proven that the proposed controller can guarantee the path following control system globally asymptotically stable. Simulation experiments show that the control system has good adaptability and robustness in case of parameter uncertainties and external disturbances to avoid shaking of performance.

scholarly journals Design of Robust Path-Following Control System for Self-driving Vehicles Using Extended High-Gain Observer

2020 ◽  
Author(s):  
Yasir K. Al-Nadawi ◽  
Hothaifa Al-Qassab ◽  
Daniel Kent ◽  
Su Pang ◽  
Vaibhav Srivastava ◽  
...  
Keyword(s):  
Control System ◽  
Path Following ◽  
High Gain ◽  
High Gain Observer ◽  
Path Following Control
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