scholarly journals Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances

Sensors ◽  
2021 ◽  
Vol 21 (22) ◽  
pp. 7454
Author(s):  
Yunsheng Fan ◽  
Bowen Liu ◽  
Guofeng Wang ◽  
Dongdong Mu
Keyword(s):  
Actuator Saturation ◽  
Sliding Mode ◽  
Path Following ◽  
Design Parameters ◽  
Real Time Control ◽  
Sideslip Angle ◽  
Terminal Sliding Mode ◽  
Unmanned Surface Vehicle ◽  
Control Approach ◽  
Unknown Disturbances

This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach.

scholarly journals Modeling and Identification of Podded Propulsion Unmanned Surface Vehicle and Its Course Control Research

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Dongdong Mu ◽  
Guofeng Wang ◽  
Yunsheng Fan ◽  
Yongsheng Zhao
Keyword(s):  
High Speed ◽  
Field Experiments ◽  
Sliding Mode ◽  
Rbf Neural Network ◽  
Convergence Speed ◽  
Fast Convergence ◽  
Response Model ◽  
Terminal Sliding Mode ◽  
Unmanned Surface Vehicle ◽  
Control Approach

The response model of podded propulsion unmanned surface vehicle (USV) is established and identified; then considering the USV has characteristic of high speed, the course controller with fast convergence speed is proposed. The idea of MMG separate modeling is used to establish three-DOF planar motion model of the podded propulsion USV, and then the model is simplified as a response model. Then based on field experiments, the parameters of the response model are obtained by the method of system identification. Unlike ordinary ships, USV has the advantages of fast speed and small size, so the controller needs fast convergence speed and strong robustness. Based on the theory of multimode control, a fast nonsingular terminal sliding mode (FNTSM) course controller is proposed. In order to reduce the chattering of system, disturbance observer is used to compensate the disturbance to reduce the control gain and RBF neural network is applied to approximate the symbolic function. At the same time, fuzzy algorithm is employed to realize the mode soft switching, which avoids the unnecessary chattering when the mode is switched. Finally the rapidity and robustness of the proposed control approach are demonstrated by simulations and comparison studies.

scholarly journals Adaptive Integral Sliding Mode based Path Following Control of Unmanned Surface Vehicle

2021 ◽  
Author(s):  
José Antonio González-Prieto ◽  
Carlos Pérez-Collazo ◽  
Yogang Singh
Keyword(s):  
Simulation Study ◽  
Sliding Mode ◽  
Path Following ◽  
External Disturbances ◽  
Unmanned Surface Vehicle ◽  
Yaw Rate ◽  
Path Following Control ◽  
Different Types ◽  
Unknown Disturbances ◽  
System Uncertainties

This paper investigates the path following control problem for a unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties. The simulation study combines two different types of sliding mode surface based control approaches due to its precise tracking and robustness against disturbances and uncertainty. Firstly, an adaptive linear sliding mode surface algorithm is applied, to keep the yaw error within the desired boundaries and then an adaptive integral non-linear sliding mode surface is explored to keep an account of the sliding mode condition. Additionally, a method to reconfigure the input parameters in order to keep settling time, yaw rate restriction and desired precision within boundary conditions is presented. The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration.

Distributed Finite-Time Coordinated Attitude Tracking Control for Multiple Spacecraft with Actuator Saturation

2020 ◽  
Vol 29 (13) ◽  
pp. 2050212
Author(s):  
Zhi Gao ◽  
Zhihao Zhu ◽  
Yu Guo
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Actuator Saturation ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Mode Function ◽  
Nonsingular Terminal Sliding Mode ◽  
Attitude Tracking ◽  
Multiple Spacecraft ◽  
Attitude Tracking Control

For multi-spacecraft with actuator saturation, inertia uncertainties and external disturbances, a distributed finite-time coordinated attitude tracking control problem for the spacecraft with the communication topology containing fewer information paths is investigated. Aiming at reducing the communication path, a class of distributed finite-time state observers is designed. To speed up the convergence rate of the multiple spacecraft system, a fast nonsingular terminal sliding mode function is proposed. Moreover, an adaptive control term is proposed to suppress the impact of the external state-dependent disturbances and unknown time-varying inertia uncertainties. Further considering the actuator saturation owing to its physical limitations, a saturation function is designed. With the distributed finite-time observers, the fast nonsingular terminal sliding mode function, the adaptive update law and the saturation function, a distributed finite-time coordinated attitude tracking saturation controller is designed. Using the proposed controller, the follower can synchronize with the common leader with time-varying trajectory in finite time. Simulation results demonstrate the effectiveness of the designed controller.

scholarly journals Profile-Tracking-Based Adaptive Guidance Law against Maneuvering Targets

2019 ◽  
Vol 2019 ◽  
pp. 1-17
Author(s):  
Jingshuai Huang ◽  
Hongbo Zhang ◽  
Guojian Tang ◽  
Weimin Bao
Keyword(s):  
Convergence Rate ◽  
Sliding Mode ◽  
Tracking Error ◽  
Small Neighborhood ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Maneuvering Target ◽  
Guidance Law ◽  
Adaptive Guidance ◽  
The One

For the terminal guidance problem of a missile intercepting a maneuvering target, a profile-tracking-based adaptive guidance law is proposed with inherent continuity in this paper. To flexibly and quantitatively control the convergence rate of the line-of-sight rate, a standard tracking profile is designed where the convergence rate is analytically given. Then, a nonsingular fast terminal sliding-mode control approach is used to track the profile. By estimating the square of the upper bound of target maneuver, an adaptive term is constructed to compensate the maneuver. Therefore, no information of target acceleration is required in the derived law. Stability analysis shows that the tracking error can converge to a small neighborhood of zero in finite time. Furthermore, a guidance-command-conversion scheme is presented to convert the law into the one appropriate for endoatmospheric interceptions. Simulation results indicate that the proposed law is effective and outperforms existing guidance laws.

Adaptive-gain fast nonsingular terminal sliding mode for position control of a piezo positioning stage

2018 ◽  
Vol 232 (8) ◽  
pp. 994-1014 ◽  
Author(s):  
To Xuan Dinh ◽  
Kyoung Kwan Ahn
Keyword(s):  
Sliding Mode Control ◽  
Position Control ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Cerebellar Model Articulation Controller ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Mode Control ◽  
Uncertainty Model ◽  
Positioning Stage

This article proposed a variable gain fast terminal sliding mode controller with an estimator of the uncertainty model for a piezo positioning stage system. The designed terminal sliding mode control has some advantages over the linear sliding mode control such as fast convergence and chattering reduction while maintains its robustness to the uncertainties. Next, an indirect technique is developed to enable the elimination of the singularity problem corresponding to initial terminal sliding mode control. In addition, a cerebellar model articulation controller is carried out to estimate the nonlinear dynamics of the piezo positioning stage. To deal with unknown bounds of uncertainties and disturbances, the proposed scheme consists of using online tuning control gains that ensure the establishment of a real terminal sliding mode in a finite time. Moreover, a fuzzy logic scheme is presented to smooth out the discontinuity part of the control signal, hence improve the control performance. Stability analysis of closed loop system is provided using the Lyapunov function method. Experiment results are presented to evaluate the effectiveness of the designed control approach.

scholarly journals Global fast terminal sliding mode control based on radial basis function neural network for course keeping of unmanned surface vehicle

2019 ◽  
Vol 16 (2) ◽  
pp. 172988141982996 ◽  
Author(s):  
Lili Wan ◽  
Yixin Su ◽  
Huajun Zhang ◽  
Yongchuan Tang ◽  
Binghua Shi
Keyword(s):  
Neural Network ◽  
Radial Basis Function ◽  
Basis Function ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Unmanned Surface Vehicle ◽  
The Neural Network ◽  
Fast Terminal Sliding Mode ◽  
Radial Basis ◽  
Unknown Disturbance

A scheme to solve the course keeping problem of the unmanned surface vehicle with nonlinear and uncertain characteristics and unknown external disturbances is investigated in this article. The chattering existing in global fast terminal sliding mode controller in solving the course keeping problem of the unmanned surface vehicle with external disturbance is analyzed. To reduce the chattering and eliminate the influence of the unknown disturbance, an adaptive global fast terminal sliding mode controller based on radial basis function neural network is developed. The equivalent control that usually requires a precise model information of the system is computed using the radial basis function neural network. The weights of the neural network are online adjusted according to the adaptive law that is derived using Lyapunov method to ensure the stability of the closed-loop system. Using the online learning of the neural network, the nonlinear uncertainty of the system and the unknown disturbance of external environment are compensated, and the system chattering is reduced effectively as well. The simulation results demonstrate that the proposed controller can achieve a good performance regarding the fast response and smooth control.

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