scholarly journals Neural Network-Based Fault-Tolerant Control of Underactuated Surface Vessels

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Bong Seok Park
Keyword(s):  
Degrees Of Freedom ◽  
Fault Tolerant ◽  
Model Parameters ◽  
External Disturbances ◽  
Detection Scheme ◽  
Surface Vessels ◽  
Additional Control ◽  
Underactuated Surface Vessels ◽  
Path Stability ◽  
Multilayer Neural Networks

This paper addresses the problem of trajectory tracking of underactuated surface vessels (USVs) in the presence of thruster failure. Multilayer neural networks (MNNs) are employed to estimate the unknown model parameters and external disturbances. To design a fault-tolerant controller without a fault detection scheme, we use the Nussbaum gain technique. We introduce an additional control to resolve the difficulty arising from having fewer inputs than degrees-of-freedom. Further, an approach angle is proposed to track both a straight and curved path. Stability analysis and simulations are performed to demonstrate the effectiveness of the proposed scheme.

Trajectory Tracking of Underactuated Surface Vessels Based on Hierarchical Sliding Mode

2014 ◽  
Author(s):  
Cheng Liu ◽  
Zaojian Zou ◽  
Jianchuan Yin
Keyword(s):  
Trajectory Tracking ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Sliding Mode ◽  
Underactuated System ◽  
Sliding Mode Controller ◽  
Control Field ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Hierarchical Sliding Mode

Trajectory tracking is an importance practice in ship motion control field. It attracts more attention recently due to its difficulties. Trajectory tracking requires the ship to arrive pinpoint location at exact time. It is a underactuated system because the degrees of freedom of control inputs are fewer than the degrees of freedom that needed to be controlled. In this paper, a hierarchical sliding mode controller and a common sliding mode controller are proposed to deal with the trajectory tracking problem of underactuated surface vessels. Simulation results validate the tracking performance of the proposed controllers. The closed-loop stability is testified by the Lyapunov stability theorem.

scholarly journals Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances

2021 ◽  
Vol 9 (11) ◽  
pp. 1204
Author(s):  
Yunfei Xiao ◽  
Yuan Feng ◽  
Tao Liu ◽  
Xiuping Yu ◽  
Xianfeng Wang
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Tracking Error ◽  
External Disturbances ◽  
Mode Control ◽  
Surface Vessels ◽  
Attitude Tracking ◽  
Underactuated Surface Vessels

This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.

Adaptive-Fuzzy back stepping control of cable robot vessels

2016 ◽  
Vol 4 (2) ◽  
pp. 354
Author(s):  
Mohammadreza Barzegaran ◽  
Sana Tajvidi ◽  
Majid Alimohammadi
Keyword(s):  
Degrees Of Freedom ◽  
Control Method ◽  
Dynamic Surface Control ◽  
Technological Advancement ◽  
Dynamic Surface ◽  
Surface Control ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Back Stepping Control ◽  
Access To Data

<p>Importance of sea in development, promotion and safety of the related countries make access to data and recognizing the environment become very important. Surface vessels help access to sea easier regarding technological advancement. Controlling surface vessels is considered as an active field of research regarding offshore, military and research uses. The main problem of controlling surface vessels is that these vehicles are often underactuated. Underatuation means that the system has lower number of independent actuators than degrees of freedom. In this study, designing an output feedback controller in the presence of parametric and non-parametric uncertainties independent of speed signal measurement and regarding actuators dynamic for path tracking of underactuated surface vessels, was studied. In designing controller, dynamic surface control method is used in order to reduce complexity of back stepping control.</p>

Robust fault-tolerant flight control of quadrotor against faults in multiple motors

2021 ◽  
pp. 095441002199954
Author(s):  
Dinesh D Dhadekar ◽  
S E Talole
Keyword(s):  
Flight Control ◽  
Tracking Control ◽  
Fault Tolerant ◽  
External Disturbances ◽  
Detection And Identification ◽  
Attitude Tracking ◽  
Fault Detection And Identification ◽  
Attitude Tracking Control ◽  
Disturbance Estimator

In this article, position and attitude tracking control of the quadrotor subject to complex nonlinearities, input couplings, aerodynamic uncertainties, and external disturbances coupled with faults in multiple motors is investigated. A robustified nonlinear dynamic inversion (NDI)-based fault-tolerant control (FTC) scheme is proposed for the purpose. The proposed scheme is not only robust against aforementioned nonlinearities, disturbances, and uncertainties but also tolerant to unexpected occurrence of faults in multiple motors. The proposed scheme employs uncertainty and disturbance estimator (UDE) technique to robustify the NDI-based controller by providing estimate of the lumped disturbance, thereby enabling rejection of the same. In addition, the UDE also plays the role of fault detection and identification module. The effectiveness and benefits of the proposed design are confirmed through 6-DOF simulations and experimentation on a 3-DOF Hover platform.

Adaptive neural fault-tolerant control for course tracking of unmanned surface vehicle with event-triggered input

2021 ◽  
pp. 095965182110131
Author(s):  
Guoqing Zhang ◽  
Shen Gao ◽  
Jiqiang Li ◽  
Weidong Zhang
Keyword(s):  
Neural Control ◽  
Fault Tolerant ◽  
Lyapunov Stability Theory ◽  
Actuator Faults ◽  
Closed Loop System ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Adaptive Parameters ◽  
Control Gain ◽  
Event Triggered

This study investigates the course-tracking problem for the unmanned surface vehicle in the presence of constraints of the actuator faults, control gain uncertainties, and environmental disturbance. A novel event-triggered robust neural control algorithm is proposed by fusing the robust neural damping technique and the event-triggered input mechanism. In the algorithm, no prior information of the system model about the unknown yawing dynamic parameters and unknown external disturbances is required. The transmission burden between the controller and the actuator could be relieved. Moreover, the control gain-related uncertainties and the unknown actuator faults are compensated through two updated online adaptive parameters. Sufficient effort has been made to verify the semi-global uniform ultimate bounded stability for the closed-loop system based on Lyapunov stability theory. Finally, simulation results are presented to illustrate the effectiveness and superiority of the proposed algorithm.

Dynamic Simulation of Blood Flow Effects on Flexible Manipulators During Intra-Cardiac Procedures on the Beating Heart

2011 ◽  
Author(s):  
A. Salimi ◽  
J. Mohammadpour ◽  
K. Grigoriadis ◽  
N. V. Tsekos
Keyword(s):  
Blood Flow ◽  
Degrees Of Freedom ◽  
Beating Heart ◽  
Flexible Manipulator ◽  
External Disturbances ◽  
Actuation System ◽  
Cardiac Procedures ◽  
Rigid Body Model ◽  
Flow Effects ◽  
Valve Implantation

In this paper, we develop a numerical mixed flexible-rigid body model to take into account the effects of the external disturbances acting on a flexible manipulator secondary to the oscillatory transmitral blood flow in the left ventricle. The manipulator is made of a flexible rubber-like material to further extend the surgical robotic-based catheters’ degrees of freedom and steer-ability in beating-heart prosthetic aortic valve implantation procedure. Along with the developed numerical model, a detailed description of the catheter’s mechanical architecture and the actuation system is also provided. Necessity of employing such a model for the designed system is clearly justified using simulation studies.

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