Modeling and Experimental Testing of an Unmanned Surface Vehicle with Rudderless Double Thrusters

Chunyue Li; Jiajia Jiang; Fajie Duan; Wei Liu; Xianquan Wang; Lingran Bu; Zhongbo Sun; Guoliang Yang

doi:10.3390/s19092051

Modeling and Experimental Testing of an Unmanned Surface Vehicle with Rudderless Double Thrusters

Sensors ◽

10.3390/s19092051 ◽

2019 ◽

Vol 19 (9) ◽

pp. 2051 ◽

Cited By ~ 9

Author(s):

Chunyue Li ◽

Jiajia Jiang ◽

Fajie Duan ◽

Wei Liu ◽

Xianquan Wang ◽

...

Keyword(s):

Degrees Of Freedom ◽

Experimental Testing ◽

Path Following ◽

Model Parameters ◽

Crucial Issue ◽

Unknown Parameters ◽

Path Following Control ◽

Differential Thrust ◽

Three Degrees Of Freedom ◽

Propeller Thrust

Motion control of unmanned surface vehicles (USVs) is a crucial issue in sailing performance and navigation costs. The actuators of USVs currently available are mostly a combination of thrusters and rudders. The modeling for USVs with rudderless double thrusters is rarely studied. In this paper, the three degrees of freedom (DOFs) dynamic model and propeller thrust model of this kind of USV were derived and combined. The unknown parameters of the propeller thrust model were reduced from six to two. In the three-DOF model, the propulsion of the USV was completely provided by the resultant force generated by double thrusters and the rotational moment was related to the differential thrust. It combined the propeller thrust model to represent the thrust in more detail. We performed a series of tests for a 1.5 m long, 50 kg USV, in order to obtain the model parameters through system identification. Then, the accuracy of the modeling and identification results was verified by experimental testing. Finally, based on the established model and the proportional derivative+line of sight (PD+LOS) control algorithm, the path-following control of the USV was achieved through simulations and experiments. All these demonstrated the validity and practical value of the established model.

Download Full-text

3DOF Adaptive Line-Of-Sight Based Proportional Guidance Law for Path Following of AUV in the Presence of Ocean Currents

Applied Sciences ◽

10.3390/app9173518 ◽

2019 ◽

Vol 9 (17) ◽

pp. 3518 ◽

Cited By ~ 3

Author(s):

Fengxu Liu ◽

Yue Shen ◽

Bo He ◽

Junhe Wan ◽

Dianrui Wang ◽

...

Keyword(s):

Degrees Of Freedom ◽

Path Following ◽

Lyapunov Theory ◽

Line Of Sight ◽

Average Error ◽

Drift Angle ◽

Reference Path ◽

Guidance Law ◽

Look Ahead ◽

Three Degrees Of Freedom

In order to achieve high-precision path following of autonomous underwater vehicle (AUV) in the horizontal plane, a three degrees-of-freedom adaptive line-of-sight based proportional (3DOFAPLOS) guidance law is proposed. Firstly, the path point coordinate system is introduced, which is suitable for the conversion of an arbitrary path. Then, the appropriate look-ahead distance is obtained by an improved adaptive line-of-sight (ALOS) according to three degrees-of-freedom (3DOF), including the cross-track error, the curvature of reference path, and the forward speed. Moreover, combining three degrees-of-freedom ALOS (3DOFALOS) with proportional guidance law, the desired heading is calculated considering the drift angle. 3DOFAPLOS has two functions: in the convergence stage, 3DOFALOS plays a leading role, making AUV converge to the path more quickly and smoothly. In the guidance stage, proportional guidance law plays a major role in effectively resisting the influence of drift angle and making AUV sail along the reference path. If the path is curved, 3DOFALOS makes contributions in both stages, adjusting look-ahead distance in real time with respect to curvature. The stability of the designed closed system is proved by Lyapunov theory. Both simulation and experiment results have verified that 3DOFAPLOS has a satisfactory result, which improves tracking performance more than 50% compared with the traditional line-of-sight (LOS). Specifically, the mean average error (MAE) of path following under 3DOFAPLOS can be reduced by about 60%, and the root mean square error (RMSE) can be reduced by about 50% compared with LOS.

Download Full-text

Virtual guidance-based finite-time path-following control of underactuated autonomous airship with error constraints and uncertainties

Proceedings of the Institution of Mechanical Engineers Part G Journal of Aerospace Engineering ◽

10.1177/0954410020969319 ◽

2020 ◽

pp. 095441002096931

Author(s):

Yan Wei ◽

Pingfang Zhou ◽

Yueying Wang ◽

Dengping Duan ◽

Zheng Chen

Keyword(s):

Finite Time ◽

Degrees Of Freedom ◽

Three Dimensional ◽

Small Neighborhood ◽

Path Following ◽

Coordinate Frame ◽

Control Approach ◽

Finite Time Stability ◽

Path Following Control ◽

Following Error

This paper addresses the finite-time three-dimensional path-following control problem for underactuated autonomous airship with error constraints and uncertainties. First, a five degrees-of-freedom path-following error model in the Serret-Frenet coordinate frame is established. By applying the finite-time stability theory, a virtual guidance-based finite-time adaptive neural backstepping path-following control approach is proposed. Barrier Lyapunov functions (BLFs) are introduced to deal with attitude error constraints. Neural networks (NNs) are presented to compensate for the uncertainties. To prevent the “explosion of complexity” in the design of the backstepping method, a finite-time convergent differentiator (FTCD) is introduced to estimate the time derivatives of virtual control signals. Stability analysis showed that all closed-loop signals are uniformly ultimately bounded, the constrained requirements on the airship attitude errors are never violated, and the path-following errors converge to a small neighborhood of the origin in a finite time. At last, simulation studies are provided to demonstrate the effectiveness of the proposed control approach.

Download Full-text

Path Following for the Soft Origami Crawling Robot

Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles ◽

10.1115/dscc2019-9175 ◽

2019 ◽

Cited By ~ 1

Author(s):

Oyuna Angatkina ◽

Kimberly Gustafson ◽

Aimy Wissa ◽

Andrew Alleyne

Keyword(s):

Autonomous Navigation ◽

Degrees Of Freedom ◽

Kinematic Model ◽

Path Following ◽

Search And Rescue ◽

Soft Robots ◽

Path Following Control ◽

Straight Line ◽

Pure Pursuit ◽

Extensive Growth

Abstract Extensive growth of the soft robotics field has made possible the application of soft mobile robots for real world tasks such as search and rescue missions. Soft robots provide safer interactions with humans when compared to traditional rigid robots. Additionally, soft robots often contain more degrees of freedom than rigid ones, which can be beneficial for applications where increased mobility is needed. However, the limited number of studies for the autonomous navigation of soft robots currently restricts their application for missions such as search and rescue. This paper presents a path following technique for a compliant origami crawling robot. The path following control adapts the well-known pure pursuit method to account for the geometric and mobility constraints of the robot. The robot motion is described by a kinematic model that transforms the outputs of the pure pursuit into the servo input rotations for the robot. This model consists of two integrated sub-models: a lumped kinematic model and a segmented kinematic model. The performance of the path following approach is demonstrated for a straight-line following simulation with initial offset. Finally, a feedback controller is designed to account for terrain or mission uncertainties.

Download Full-text

Adaptive path-constrained control of a robotic manipulator in a task space

Robotica ◽

10.1017/s0263574706003018 ◽

2006 ◽

Vol 25 (1) ◽

pp. 103-112 ◽

Cited By ~ 10

Author(s):

Mirosław Galicki

Keyword(s):

Degrees Of Freedom ◽

Path Following ◽

Lyapunov Stability Theory ◽

Robotic Manipulator ◽

Task Space ◽

End Effector ◽

State Dependent ◽

Control Scheme ◽

Robot Task ◽

Three Degrees Of Freedom

This study addresses the problem of adaptive controlling of both a nonredundant and a redundant robotic manipulator with state-dependent constraints. The task of the robot is to follow a prescribed geometric path given in the task space, by the end-effector. The aforementioned robot task has been solved on the basis of the Lyapunov stability theory, which is used to derive the control scheme. A new adaptive Jacobian controller is proposed in the paper for the path following of the robot, with both uncertain kinematics and dynamics. The numerical simulation results carried out for a planar redundant three-DOF (three degrees of freedom) manipulator whose end-effector follows a prescribed geometric path given in a two-dimensional (2D) task space, illustrate the trajectory performance of the proposed control scheme.

Download Full-text

Nonlinear Adaptive Ship Control Synthesis In The Case Of Model Uncertainty

Knowledge-Based Intelligent System Advancements ◽

10.4018/978-1-61692-811-7.ch018 ◽

2011 ◽

pp. 395-418

Author(s):

Zenon Zwierzewicz

Keyword(s):

Model Uncertainty ◽

Feedback Linearization ◽

General Structure ◽

Path Following ◽

Control Synthesis ◽

Model Parameters ◽

Unknown Parameters ◽

On Line ◽

Ship Control ◽

On Line Learning

This chapter covers the concerns with a problem of adaptive ship control synthesis in the case of substantially limited knowledge of the plant model. In fact we have at our disposal only its highly general structure in the form of Norrbin’s-like representation with unknown nonlinearities. Two tasks of ship control are considered. The first task is concerning the ship course-keeping system design while the second refers to the path-following system. Two different approaches to the control synthesis problem are considered. One is based on an adaptive feedback linearization technique, while the second refers to the backstepping method where the tuning of unknown parameters is also taken into account. It has been demonstrated that the controllers thereby obtained enable on-line learning of unknown model characteristics, having at the same time the performance comparable to the case of fully known model parameters. The system’s performance assessment for the each case has been tested via Matlab/Simulink simulations.

Download Full-text

High-Gain Extended State Observer Based Adaptive Sliding Mode Path Following Control for An Underactuated Vessel Sailing in Restricted Waters

Applied Sciences ◽

10.3390/app9061102 ◽

2019 ◽

Vol 9 (6) ◽

pp. 1102 ◽

Cited By ~ 2

Author(s):

Jianqin Wang ◽

Zaojian Zou ◽

Tao Wang

Keyword(s):

Sliding Mode ◽

Path Following ◽

High Gain ◽

State Observer ◽

Extended State Observer ◽

Model Parameters ◽

Extended State ◽

External Disturbances ◽

Adaptive Sliding Mode ◽

Path Following Control

This paper studied the path following problem for an underactuated vessel sailing in restricted waters with varying water depths. A novel high-gain extended state observer based adaptive sliding mode path following control scheme was proposed. The high-gain extended state observer based line-of-sight guidance law was designed according to vessel kinematics in the horizontal plane, which achieved accurate guidance in spite of time-varying sideslip angles. In the guidance system, a guidance angle was calculated to serve as a reference input for the yaw tracking control system. The sliding mode yaw tracking control system was designed, which can deal with model uncertainties and external disturbances. Since it is hard to obtain the exact model parameters in advance, an adaptive technique was adopted to estimate the unknown parameters, and an adaptive sliding mode control was designed to make the yaw tracking errors globally and asymptotically converge to zero in spite of unknown model parameters, model uncertainties, and external disturbances. Furthermore, the global uniformly asymptotically stability of the closed-loop system was proven based on the cascade system theory. Lastly, simulation experiments were conducted to validate the analysis results and to demonstrate the superiority of the proposed scheme.

Download Full-text

Motion Control of a 4WS4WD Path-Following Vehicle: Dynamics-Based Steering and Driving Models

Shock and Vibration ◽

10.1155/2021/8861159 ◽

2021 ◽

Vol 2021 ◽

pp. 1-13

Author(s):

Zhonghua Zhang ◽

Caijin Yang ◽

Weihua Zhang ◽

Yanhai Xu ◽

Yiqiang Peng ◽

...

Keyword(s):

Dynamic Model ◽

Motion Control ◽

Degrees Of Freedom ◽

Path Following ◽

Coordinate Space ◽

Vehicle Model ◽

Control Models ◽

Path Following Control ◽

Vehicle Path ◽

And Control

This paper deals with a four-wheel-steering four-wheel-driving (4WS4WD) vehicle under the path-following control. Focuses are placed on the motion control of the vehicle, and the drive forces and steering angles for achieving accurate path-following by the vehicle are determined. In this research, a nonlinear vehicle model of three degrees of freedom (DOFs) is used. The vehicle path-following dynamics are modeled using the classical mass-damper-spring vibration theory, which is described by three ordinary differential equations of second order with lateral, heading and velocity deviations, and control parameters. Combined with the vehicle path-following dynamic model, the nonlinear vehicle dynamic model is decoupled in generalized coordinate space. The required drive forces and steering angles for the vehicle path-following controllers are thus calculated and control models are obtained. Theoretical analysis for steering and driving control models is also carried out. It discloses that control models can maintain good performance against uncertainties. The vehicle path-following control is exhibited by dynamic simulation in CarSim with consideration of a complex vehicle model and a variable-curvature planned path. Numerical results obtained are analyzed and show control models have capable of dealing with a complex path-following problem. This paper provides a new insight into understanding path-following control of a 4WS4WD vehicle at the generalized vibration level.

Download Full-text

Optimization and Control of a Planar Three Degrees of Freedom Manipulator with Cable Actuation

Machines ◽

10.3390/machines9120338 ◽

2021 ◽

Vol 9 (12) ◽

pp. 338

Author(s):

Jan Krivošej ◽

Zbyněk Šika

Keyword(s):

Degrees Of Freedom ◽

Torque Control ◽

Model Parameters ◽

Serial Chain ◽

Smooth Motion ◽

Cable Force ◽

Optimization And Control ◽

And Control ◽

The Given ◽

Three Degrees Of Freedom

The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such a system can be understood as a special type of hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable system. The advantage of the auxiliary cable mechanism is the ability to reconfigure the whole system. The fulfillment of sufficient prestressing is the constraint of the optimization process. Computed Torque Control with a cable force distribution algorithm is implemented. The control algorithm performance is examined on different trajectories, including non-smooth motion requests, and its robustness is tested by randomly generated errors of the model parameters in regulators. The results demonstrate that the optimized structure is capable of controlling the manipulator motion and keeping the cable prestressing within the given limits.

Download Full-text