Path Following Control of Underactuated Marine Vessels via Dynamic Surface Control Technique

2008 ◽  
Author(s):  
So-Ryeok Oh ◽  
Jing Sun ◽  
Zhen Li
Keyword(s):  
Design Method ◽  
Direct Method ◽  
Design Procedure ◽  
Path Following ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Surface Control ◽  
Path Following Control ◽  
Marine Vessels

This paper considers the path following problem of underactuated marine vessels whose control imposes a challenging problem due to its under-actuated nature. The recently developed Dynamic Surface Control (DSC) design method is applied to overcome the problem of explosion of terms associated with the backstepping design procedure. We show that the exponential stability of the resulting closed loop dynamics can be proved using Lyapunov direct method. The feasibility of the proposed Dynamic Surface Controller is evaluated analytically and verified through computer simulations and experiments.

scholarly journals Robust Adaptive Dynamic Surface Control for a Class of Nonlinear Dynamical Systems with Unknown Hysteresis

2014 ◽  
Vol 2014 ◽  
pp. 1-10 ◽  
Author(s):  
Yong-Hua Liu ◽  
Ying Feng ◽  
Xinkai Chen
Keyword(s):  
Controller Design ◽  
Nonlinear Dynamical Systems ◽  
Design Procedure ◽  
Adaptive Controller ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Negative Effects ◽  
Dynamic Surface ◽  
Surface Control ◽  
Robust Adaptive

The output tracking problem for a class of uncertain strict-feedback nonlinear systems with unknown Duhem hysteresis input is investigated. In order to handle the undesirable effects caused by unknown hysteresis, the properties in respect to Duhem model are used to decompose it as a nonlinear smooth term and a nonlinear bounded “disturbance-like” term, which makes it possible to deal with the unknown hysteresis without constructing inverse in the controller design. By combining robust control and dynamic surface control technique, an adaptive controller is proposed in this paper to avoid “the explosion complexity” in the standard backstepping design procedure. The negative effects caused by the unknown hysteresis can be mitigated effectively, and the semiglobal uniform ultimate boundedness of all the signals in the closed-loop system is obtained. The effectiveness of the proposed scheme is validated through a simulation example.

scholarly journals Neural observer-based path following control for underactuated unmanned surface vessels with input saturation and time-varying disturbance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987807
Author(s):  
Lei Wan ◽  
Jiangfeng Zeng ◽  
Yueming Li ◽  
Hongde Qin ◽  
Lei Zhang ◽  
...  
Keyword(s):  
Disturbance Observer ◽  
External Disturbance ◽  
Input Saturation ◽  
Path Following ◽  
Dynamic Surface Control ◽  
Dynamic Surface ◽  
Surface Control ◽  
Surface Vessels ◽  
Path Following Control ◽  
Control Scheme

In this study, a new neural observer-based dynamic surface control scheme is proposed for the path following of underactuated unmanned surface vessels in the presence of input saturation and time-varying external disturbance. The dynamic surface control technique is augmented by a robust adaptive radial basis function neural network and a nonlinear neural disturbance observer. Radial basis function neural network is employed to deal with system uncertainties, and the nonlinear neural disturbance observer is developed to compensate for the unknown compound disturbance that contains the input saturation approximation error and the external disturbance. Moreover, the stringent known boundary requirement of the unknown disturbance constraint is eliminated with the proposed nonlinear neural disturbance observer. Meanwhile, to deal with the non-smooth saturation nonlinearity, a new parametric hyperbolic tangent function approximation model with arbitrary prescribed precision is constructed, which results in the transient performance improvement for the path following control system. Stability analysis shows that all the signals in the closed-loop system are guaranteed to be ultimately bounded. Comparative simulation results further demonstrate the effectiveness of the proposed control scheme.

scholarly journals Robust Adaptive Control of MIMO Pure-Feedback Nonlinear Systems via Improved Dynamic Surface Control Technique

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 96672-96685 ◽  
Author(s):  
Yang Zhou ◽  
Wenhan Dong ◽  
Shuangyu Dong ◽  
Yong Chen ◽  
Renwei Zuo ◽  
...  
Keyword(s):  
Adaptive Control ◽  
Nonlinear Systems ◽  
Dynamic Surface Control ◽  
Robust Adaptive Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Surface Control ◽  
Robust Adaptive

Adaptive dynamic surface control for vision-based stabilization of an uncertain electrically driven nonholonomic mobile robot

Robotica ◽  
2014 ◽  
Vol 34 (2) ◽  
pp. 449-467 ◽  
Author(s):  
Zhengcai Cao ◽  
Longjie Yin ◽  
Yili Fu ◽  
Jian S Dai
Keyword(s):  
Adaptive Control ◽  
Mobile Robot ◽  
Design Procedure ◽  
Dynamic Surface Control ◽  
Robot Kinematics ◽  
Robot Dynamics ◽  
Dynamic Surface ◽  
Stabilizing Controller ◽  
Nonholonomic Mobile Robot ◽  
Surface Control

SUMMARYThis paper investigates the vision-based pose stabilization of an electrically driven nonholonomic mobile robot with parametric uncertainties in robot kinematics, robot dynamics, and actuator dynamics. A robust adaptive visual stabilizing controller is proposed with the utilization of adaptive control, backstepping, and dynamic surface control techniques. For the controller design, the idea of backstepping is used and the adaptive control approach is adopted to deal with all uncertainties. We also apply the dynamic surface control method to avoid the repeated differentiations of virtual controllers existing in the backstepping design procedure such that the control development is easier to be implemented. Moreover, to attenuate the effect of disturbances on control performance, smooth robust compensators are exploited. It is proved that all signals in the closed-loop system can be guaranteed to be uniformly ultimately bounded. Finally, simulation results are presented to illustrate the performance of the proposed controller.

Learning control of flexible manipulator with unknown dynamics

2017 ◽  
Vol 37 (3) ◽  
pp. 304-313 ◽  
Author(s):  
Zhiguang Chen ◽  
Chenguang Yang ◽  
Xin Liu ◽  
Min Wang
Keyword(s):  
Control Method ◽  
Controller Design ◽  
Design Method ◽  
Weight Ratio ◽  
Response Speed ◽  
Dynamic Surface Control ◽  
Flexible Manipulator ◽  
Dynamic Surface ◽  
Content Type ◽  
Surface Control

Purpose The purpose of this paper is to study the controller design of flexible manipulator. Flexible manipulator system is a nonlinear, strong coupling, time-varying system, which is introduced elastodynamics in the study and complicated to control. However, due to the flexible manipulator, system has a significant advantage in response speed, control accuracy and load weight ratio to attract a lot of researchers. Design/methodology/approach Since the order of flexible manipulator system is high, designing controller process will be complex, and have a large amount of calculation, but this paper will use the dynamic surface control method to solve this problem. Findings Dynamic surface control method as a controller design method which can effectively solve the problem with the system contains nonlinear and reduced design complexity. Originality/value The authors assume that the dynamic parameters of flexible manipulator system are unknown, and use Radial Basis Function neural network to approach the unknown system, combined with the dynamic surface control method to design the controller.

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