scholarly journals Time-varying Path Following Control for Port-Hamiltonian Systems

2011 ◽  
Vol 47 (3) ◽  
pp. 141-149
Author(s):  
Mitsuru TANIGUCHI ◽  
Kenji FUJIMOTO
Keyword(s):  
Hamiltonian Systems ◽  
Path Following ◽  
Time Varying ◽  
Path Following Control

Adaptive path following control for Wave gliders in time-varying environment

2020 ◽  
Vol 218 ◽  
pp. 108165
Author(s):  
Xiujun Sun ◽  
Ying Zhou ◽  
Hongqiang Sang ◽  
Peiyuan Yu ◽  
Shuai Zhang
Keyword(s):  
Path Following ◽  
Time Varying ◽  
Path Following Control ◽  
Time Varying Environment ◽  
Varying Environment

scholarly journals On path following control of nonholonomic port-Hamiltonian systems via generalized canonical transformations

2019 ◽  
Vol 52 (16) ◽  
pp. 298-303
Author(s):  
Ryotaro Shima ◽  
Yuki Okura ◽  
Kenji Fujimoto ◽  
Ichiro Maruta
Keyword(s):  
Hamiltonian Systems ◽  
Path Following ◽  
Canonical Transformations ◽  
Path Following Control

scholarly journals NESO-Based Path Following Control for Underactuated Hovercrafts with Unknown Nonlinear Uncertainties and a Safety Limit Constraint

2020 ◽  
Vol 10 (15) ◽  
pp. 5287
Author(s):  
Yuanhui Wang ◽  
Haiyan Tong ◽  
Hongliang Ren
Keyword(s):  
Control System ◽  
Sliding Mode ◽  
Path Following ◽  
Time Varying ◽  
Loop Control ◽  
Path Following Control ◽  
Loop Control System ◽  
Surge Control ◽  
Nonlinear Extended State Observer ◽  
Safety Limit

In this brief, the path following control problem of underactuated hovercrafts subject to nonlinear time-varying uncertainties and a safety limit constraint (SLC) is addressed. A novel homogenous nonlinear extended state observer (NESO)-based safe motion controller for a path following control scenario of underactuated hovercrafts is proposed. First, a NESO is constructed to estimate and compensate the nonlinear time-varying uncertainties for the underactuated hovercraft. Then, a NESO-based backstepping sliding mode control (BSMC) law with a turning SLC is proposed to achieve the yaw control for underactuated hovercrafts, which improves both safety and maneuverability of the underactuated hovercraft during the path following control scenario. The nonlinear time-varying turning SLC is first directly taken into the control system design, which is achieved by introducing an auxiliary dynamic system to limit the virtual input control during the backstepping design process. A NESO-based backstepping surge control law is also designed to achieve the surge control for underactuated hovercrafts. Furthermore, all error signals of the proposed closed-loop control system are proven to be bounded. Finally, an application case is tested on an underactuated hovercraft to illustrate the effectiveness and superiority of the designed control scheme.

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