Article
Engineering, Marine
Wei Liu, Hui Ye, Xiaofei Yang
Summary: In this paper, the impact of time-varying external disturbances on the trajectory tracking accuracy of an underactuated unmanned surface vehicle (USV) is addressed. To ensure accuracy, a reduced-order extended state observer (ESO) and a super-twisting second-order sliding mode controller are adopted. The ESO handles the unknown time-varying sideslip angle, while the super-twisting technology reduces the chattering effect. Stability analysis using the Lyapunov method proves that the proposed controllers ensure convergence of tracking errors in finite time. Simulation experiments comparing the proposed super-twisting sliding mode control (STSMC) and adaptive sliding mode control (ASMC) methods demonstrate that the STSMC method enables the USV to track the reference trajectory successfully, with significantly reduced chattering compared to ASMC.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2023)
Article
Automation & Control Systems
Zhongyuan Zhao, Xin Wang
Summary: This article proposes an event-triggered sliding mode trajectory tracking control algorithm for underactuated unmanned surface vessels. By designing an integral sliding surface and event-triggered condition, the update frequency of the controller is effectively reduced while ensuring system stability and trajectory tracking performance.
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING
(2023)
Article
Acoustics
Mohammad-Reza Moghanni-Bavil-Olyaei, Jafar Keighobadi, Ahmad Ghanbari, Angelina Olegovna Zekiy
Summary: This paper proposes a passivity-based hierarchical SM control (PBHSMC) approach to tackle the trajectory tracking issue of a special class of UMSs. The approach ensures global asymptotical convergence and satisfies reaching mode and sliding mode conditions by utilizing feedback passivation and an SMC law. Numerical simulation results demonstrate the superior performance of the proposed PBHSMC scheme compared to the conventional SMO-based HSMC, showing better suppression of unwanted oscillations, lower tracking error and overshoot, shorter settling time, smoother and smaller control efforts, and more accurate estimation of state variables with less chattering.
JOURNAL OF VIBRATION AND CONTROL
(2023)
Article
Automation & Control Systems
Xiaoling Liang, Yuxiang Zhang, Dongyu Li, Shuzhi Sam Ge, Bernard Voon Ee How, Tong Heng Lee
Summary: This article addresses the time-synchronized control problem for FLNG and LNGC in side-by-side offloading operation. The approach of time-synchronized design ensures the state-variables of the vessels converge at the sliding mode surface within a fixed time and converge at the same moment. The synchronous tracking of LNGC to FLNG vessel is achieved and rigorously proved using Lyapunov-type theorems and stability analysis.
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL
(2023)
Article
Engineering, Marine
Weilin Luo, Shuai Liu
Summary: In this paper, a disturbance observer based nonsingular fast terminal sliding mode control (NFTSMC) is proposed for trajectory tracking control of an underactuated autonomous underwater vehicle (AUV). A nonlinear disturbance observer (DO) is designed to estimate complex external disturbances and incorporated into a NFTSMC. Simulation results demonstrate the effectiveness and improved convergence rate of the proposed NFTSMC, as well as its robustness to various disturbances.
Article
Automation & Control Systems
Lu Fan, Ancai Zhang, Guangyuan Pan, Yingxue Du, Jianlong Qiu
Summary: This paper discusses the stabilizing control problem of a cart-double pendulum system. By constructing an input relationship and designing swing-up and balance stabilization controllers, the system is stabilized at upright equilibrium point in a fixed time.
IET CONTROL THEORY AND APPLICATIONS
(2023)
Article
Engineering, Ocean
Gong Xing Wu, Yi Ding, Tezdogan Tahsin, Incecik Atilla
Summary: In this paper, a non-singular terminal sliding mode control (NTSMC) scheme based on adaptive neural network (NN) and nonlinear extended state observer (ESO) is proposed for trajectory tracking control of the underactuated unmanned surface vehicle (USV) in the presence of model uncertainties and external disturbances. This scheme combines the estimation capability of the nonlinear ESO and the approximation ability of the adaptive NN to achieve fast convergence and robustness. Simulation results demonstrate the effectiveness and superiority of the proposed method.
APPLIED OCEAN RESEARCH
(2023)
Article
Engineering, Marine
Przemyslaw Herman
Summary: This paper addresses the trajectory tracking control issue for underactuated underwater vehicles with quasi-velocities resulting from the decomposition of the inertia matrix. The control algorithm considers unmodeled dynamics and external disturbances. It is shown that such mathematical models can be described by inertial quasi-velocities (IQV) after diagonalization. The proposed control scheme consists of a kinematic velocity controller and a dynamic adaptive integral sliding mode control algorithm. The paper extends the concept based on velocity transformation and backstepping methods to systems with a symmetric inertia matrix. The stability of a closed system in IQV space is proven. The proposed approach is verified on two 3 DOF models of underwater vehicles with thruster force limitations.
Article
Engineering, Marine
Liwei Guo, Weidong Liu, Le Li, Yichao Lou, Xinliang Wang, Zhi Liu
Summary: This paper proposes a neural network-based nonsingular terminal sliding mode controller for the target tracking problem of underactuated underwater robots. The controller achieves good dynamic performance and steady-state performance by using the prescribed performance technique and the radial basis function neural network. The controller also considers the uncertainties and disturbances of the robot model.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Computer Science, Artificial Intelligence
Lin Chen, Shi-Lu Dai, Chao Dong
Summary: In this article, an adaptive reinforcement learning optimal tracking control algorithm is proposed for an underactuated surface vessel subjected to modeling uncertainties and time-varying external disturbances. By integrating backstepping technique with optimized control design, the algorithm guarantees the desired optimal tracking performance by designing virtual and actual control inputs as optimized solutions of each subsystem. Neural network approximators are used to approximate uncertain vessel dynamics and adaptive control technique is presented to estimate the upper boundedness of external disturbances. Actor-critic networks are constructed under the reinforcement learning framework to solve the Hamilton-Jacobi-Bellman equations and achieve optimized control. The algorithm can ensure the semiglobal uniform ultimate boundedness of the closed-loop systems.
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS
(2022)
Article
Computer Science, Information Systems
Yan Zhang, Wenyi Tan, Xiangfei Meng, Qiang Zhang, Yancai Hu
Summary: An adaptive online approximator-based finite-time trajectory tracking scheme is proposed to solve the problem of trajectory tracking for underactuated surface vessels affected by dynamic uncertainties and external disturbances. By designing an adaptive online approximator to approach the upper bound of uncertainties and unknown disturbances, the proposed control scheme achieves parameter uncertainty and external disturbance rejection. Simulation results demonstrate that the proposed scheme can effectively track the desired trajectory of the underactuated ship within finite time.
Article
Automation & Control Systems
Yan Yan, Shuanghe Yu, Xiaomei Gao, Defeng Wu, Tieshan Li
Summary: This article develops continuous and periodic event-triggered sliding-mode control algorithms for path following of underactuated surface vehicles (USVs). The upper bounds of quasi-sliding modes for path following of USVs are established for the first time. Continuous and periodic event-triggered mechanisms are considered and added into the proposed continuous sliding-mode control scheme. The proposed strategies can make the sliding variables reach the quasi-sliding modes and stay in there, while reducing energy consumption. The effectiveness of the proposed control methods is validated through simulation results.
IEEE TRANSACTIONS ON CYBERNETICS
(2023)
Article
Computer Science, Information Systems
Yongsheng Zhao, Xiaojie Sun, Guofeng Wang, Yunsheng Fan
Summary: This paper proposes an adaptive backstepping sliding mode tracking control method for underactuated unmanned surface vehicles, which combines backstepping and adaptive sliding mode control technology. By using a virtual control law to replace the position error control strategy and introducing adaptive technology based on backstepping sliding mode theory, the control system's robustness is enhanced in unknown environments. Simulation results demonstrate the effectiveness of the proposed method in achieving stable tracking under system parameter uncertainty and time-varying disturbances.
Article
Chemistry, Analytical
Mingyuan Hu, Kyunghyun Lee, Hyeongki Ahn, Ahyeong Choi, Hyunchang Kim, Kwanho You
Summary: This study proposes a modified sliding mode control method for stabilizing and tracking a quadrotor system with a nonlinear sliding surface. By constructing a nonlinear sliding surface based on the modified sigmoid function, the system achieves quick equilibrium. A double-loop control method is used to design the control rate and ensure stability of the overall closed-loop system with the Lyapunov function. Additionally, the study also considers the impact of model uncertainties and external disturbances on system performance.
Article
Engineering, Marine
Weilin Luo, Xin Qi
Summary: This study proposes a method to stabilize surge, sway, and yaw motions in surface ship dynamics, using L2-gain design to suppress random uncertain disturbances, and designing a robust adaptive controller through diffeomorphism transformation and Lyapunov function. Stability analysis and simulation results demonstrate the validity of the controllers proposed.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
