scholarly journals Distributed Tracking Control for Connectivity-Preserving and Collision-Avoiding Formation Tracking of Underactuated Surface Vessels with Input Saturation

2020 ◽  
Vol 10 (10) ◽  
pp. 3372
Author(s):  
Guoqing Xia ◽  
Xiaoming Xia ◽  
Bo Zhao ◽  
Chuang Sun ◽  
Xianxin Sun
Keyword(s):  
Collision Avoidance ◽  
Tracking Control ◽  
Input Saturation ◽  
Model Uncertainties ◽  
Environmental Disturbances ◽  
Formation Tracking ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Connectivity Preservation ◽  
The Stability

This paper investigates the formation tracking control problem of a group of underactuated surface vessels (USVs) in the presence of model uncertainties and environmental disturbances. Additional constraints, such as collision avoidance, heterogeneous limited communication range and input saturation are also considered. A modified barrier Lyapunov function (BLF) is introduced to achieve the connectivity preservation, the collision avoidance and the distributed formation tracking. Extended state observer (ESO) is employed to estimate total disturbances consisting of environmental disturbances and model uncertainties. Auxiliary variables are introduced to deal with the underactuated problem and input saturation. A distributed controller is developed for each USV. Using the Lyapunov method analyze the stability of the system, it is proven that all signals are bounded and tracking errors converge to a neighborhood of the origin. Simulation results show that the proposed controller is practicable and effective.

Adaptive fuzzy tracking control for underactuated surface vessels with unmodeled dynamics and input saturation

2020 ◽  
Vol 103 ◽  
pp. 52-62
Author(s):  
Yingjie Deng ◽  
Xianku Zhang ◽  
Namkyun Im ◽  
Guoqing Zhang ◽  
Qiang Zhang
Keyword(s):  
Tracking Control ◽  
Input Saturation ◽  
Unmodeled Dynamics ◽  
Adaptive Fuzzy ◽  
Surface Vessels ◽  
Underactuated Surface Vessels

scholarly journals Robust Adaptive Self-Structuring Neural Network Bounded Target Tracking Control of Underactuated Surface Vessels

2021 ◽  
Vol 2021 ◽  
pp. 1-18
Author(s):  
Haitao Liu ◽  
Jianfei Lin ◽  
Guoyan Yu ◽  
Jianbin Yuan
Keyword(s):  
Neural Network ◽  
Target Tracking ◽  
Input Saturation ◽  
Approximate Model ◽  
Model Uncertainties ◽  
The Neural Network ◽  
Surface Vessels ◽  
Underactuated Surface Vessels ◽  
Unknown Disturbances ◽  
Robust Adaptive

This paper studies the target-tracking problem of underactuated surface vessels with model uncertainties and external unknown disturbances. A composite robust adaptive self-structuring neural-network-bounded controller is proposed to improve system performance and avoid input saturation. An extended state observer is proposed to estimate the uncertain nonlinear term, including the unknown velocity of the tracking target, when only the measurement values of the line-of-sight range and angle can be obtained. An adaptive self-structuring neural network is developed to approximate model uncertainties and external unknown disturbances, which can effectively optimize the structure of the neural network to reduce the computational burden by adjusting the number of neurons online. The input-to-state stability of the total closed-loop system is analyzed by the cascade stability theorem. The simulation results verify the effectiveness of the proposed method.

scholarly journals Robust trajectory tracking control for unmanned surface vessels under motion constraints and environmental disturbances

2021 ◽  
pp. 147509022110396
Author(s):  
Ruo Zhang ◽  
Yuanchang Liu ◽  
Enrico Anderlini
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Autonomous Navigation ◽  
Lyapunov Theory ◽  
Trajectory Tracking Control ◽  
Environmental Disturbances ◽  
Motion Constraints ◽  
Surface Vessels ◽  
Control Scheme ◽  
The Stability

To achieve a fully autonomous navigation for unmanned surface vessels (USVs), a robust control capability is essential. The control of USVs in complex maritime environments is rather challenging as numerous system uncertainties and environmental influences affect the control performance. This paper therefore investigates the trajectory tracking control problem for USVs with motion constraints and environmental disturbances. Two different controllers are proposed to achieve the task. The first approach is mainly based on the backstepping technique augmented by a virtual system to compensate for the disturbance and an auxiliary system to bound the input in the saturation limit. The second control scheme is mainly based on the normalisation technique, with which the bound of the input can be limited in the constraints by tuning the control parameters. The stability of the two control schemes is demonstrated by the Lyapunov theory. Finally, simulations are conducted to verify the effectiveness of the proposed controllers. The introduced solutions enable USVs to follow complex trajectories in an adverse environment with varying ocean currents.

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