LVS guidance based output-feedback path-following control for underactuated surface vessels

2021 ◽  
Author(s):  
Zheng Chen ◽  
Boxu Min ◽  
Hongbin Xie ◽  
Yucheng Ying
Keyword(s):  
Output Feedback ◽  
Path Following ◽  
Feedback Path ◽  
Surface Vessels ◽  
Path Following Control ◽  
Underactuated Surface Vessels

Finite-time output feedback path following control of underactuated MSV based on FTESO

2021 ◽  
Vol 224 ◽  
pp. 108660
Author(s):  
Jun Nie ◽  
Haixia Wang ◽  
Xiao Lu ◽  
Xiaogong Lin ◽  
Chunyang Sheng ◽  
...  
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Path Following ◽  
Feedback Path ◽  
Path Following Control

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.

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.

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