Robust Composite Nonlinear Feedback Control for Path Following of Underactuated Surface Vessels With Desired-Heading Amendment

2016 ◽  
Author(s):  
Chuan Hu ◽  
Rongrong Wang ◽  
Fengjun Yan
Keyword(s):  
Input Saturation ◽  
Path Following ◽  
Transient Performance ◽  
Nonlinear Feedback ◽  
Sideslip Angle ◽  
Traditional Practice ◽  
Composite Nonlinear Feedback ◽  
Surface Vessels ◽  
Path Following Control ◽  
Underactuated Surface Vessels

This paper studies the transient performance improvement problem for path following control of underactuated surface vessels (USVs) in the presence of oceanic disturbances. The traditional practice that chooses the tangent direction of the desired path as the desired heading may deteriorate the tracking performance in the curve-path following. That is because the sideslip angle is not zero in turnings, which unavoidably makes the lateral offset hard to converge to zero. Also, the disturbances in wave filed greatly affect the transient control of the path following errors. To this end, this paper makes two contributions: 1) An amendment on the choice of the desired heading is presented to consider the sideslip angle in turnings and then achieve a more accurate path-following maneuver; 2) A novel robust composite nonlinear feedback (CNF) technique is proposed based on a multiple-disturbances observer to improve the transient performance for path following control in seaway environment considering the input saturation. Comparative simulations verify the reasonability of the amendment on the desired heading direction and the effectiveness of the CNF approach in improving the transient performance for the path following control of USVs.

Robust path-following control for a fully actuated marine surface vessel with composite nonlinear feedback

2017 ◽  
Vol 40 (12) ◽  
pp. 3477-3488 ◽  
Author(s):  
Chuan Hu ◽  
Rongrong Wang ◽  
Fengjun Yan ◽  
Mohammed Chadli ◽  
Yanjun Huang ◽  
...  
Keyword(s):  
Finite Time ◽  
Sliding Mode ◽  
Path Following ◽  
Nonlinear Feedback ◽  
External Disturbances ◽  
Composite Nonlinear Feedback ◽  
Finite Time Convergence ◽  
Path Following Control ◽  
Marine Surface ◽  
Surface Vessel

This paper presents a fast and accurate robust path-following control approach for a fully actuated marine surface vessel in the presence of external disturbances. The path following is realized by simultaneously converging the yaw rate and sway velocity to their respective desired values, which are generated according to the path-following demand. An improved combined control strategy using an integral terminal sliding mode (ITSM) based composite nonlinear feedback (CNF) technique considering the external disturbances, time-varying tracking reference, input saturations and transient performance improvement is proposed in this study. The proposed ITSM-CNF combines the advantages of the CNF control in improving the transient performance and of the ITSM control in guaranteeing good robustness and finite-time convergence. A continuous and smooth sliding mode controller, based on an integral nonsingular terminal sliding surface, is added to the CNF controller to eliminate chattering. The overall stability of the closed-loop system is strictly proved based on the Lyapunov method. Simulations verify the effectiveness of the ITSM-CNF controller in improving the transient path-following performance, inhibiting overshoots, eliminating steady-state errors, rejecting external disturbances and removing chattering effects, considering input saturations, varying path curvature and finite-time convergence.

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 Output Path-Following Control of Marine Surface Vessels with Finite-Time LOS Guidance

2020 ◽  
Vol 8 (4) ◽  
pp. 275
Author(s):  
Lu Wang ◽  
Changkui Xu ◽  
Jianhua Cheng
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Hierarchical Control ◽  
Path Following ◽  
Sideslip Angle ◽  
Disturbance Estimation ◽  
Surface Vessels ◽  
Path Following Control ◽  
Heading Control ◽  
Marine Surface

This paper proposes a finite-time output feedback methodology for the path-following task of marine surface vessels. First, a horizontal path-following model is established with unknown sideslip angle, unmeasured system state and system uncertainties. A hierarchical control structure is adopted to deal with the cascade property. For kinematics system design, a finite-time sideslip angle observer is first proposed, and thus the sideslip angle estimation is compensated in a nonlinear line-of-sight (LOS) guidance strategy to acquire finite-time convergence. For the heading control design, an extended state observer is introduced for the unmeasured state and equivalent disturbance estimation, based on which an output feedback backstepping approach is proposed for the desired tracking of command course angle. The global stability of the cascade system is analyzed. Simulation results validate the effectiveness of the proposed methodology.

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