Article
Engineering, Marine
Bin Zhou, Bing Huang, Yumin Su, YuXin Zheng, Shuai Zheng
Summary: This paper presents a robust fixed-time trajectory tracking controller for underactuated surface vessels, which can handle unmodeled dynamics and external disturbances. The design involves the use of sliding mode control technology and neural networks, with theoretical analysis and numerical simulation results demonstrating the effectiveness and superiority of the control scheme.
Article
Automation & Control Systems
Jin-Xi Zhang, Tianyou Chai
Summary: This article introduces a new adaptive prescribed performance control strategy for trajectory tracking of underactuated surface vessels (USVs) by utilizing constraint-handling technique and auxiliary variable, which impose constraints on both position error and auxiliary variable simultaneously to achieve predefined performance with a singularity-free continuous control action.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2022)
Article
Engineering, Marine
Yifeng Qin, Zhiquan Liu
Summary: A control scheme based on FXESO and FNMPC was proposed to improve the path following and speed maintenance capability of USVs. A 4-DOF nonlinear USV model was established and the FXESO was designed to estimate the velocity states and disturbance terms of the model. The disturbance compensation NMPC with fuzzy rules was used to handle the cooperative control problems between path following and RRS.
Article
Engineering, Marine
Yunfei Xiao, Yuan Feng, Tao Liu, Xiuping Yu, Xianfeng Wang
Summary: This study proposes a finite-time tracking control method for underactuated surface vessels (USVs) using an integral sliding surface (ISMS) to achieve trajectory tracking. The integration of position tracking and attitude tracking controller design simplifies implementation, and theoretical analysis and numerical simulations confirm the effectiveness of the proposed method.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2021)
Article
Engineering, Marine
Mien Van, Van-Thach Do, Mohammad Omar Khyam, Xuan Phu Do
Summary: This study introduces an innovative control technique for uncertain surface vessels working in enhanced sea states, ensuring global finite-time convergence by combining finite-time backstepping approach with finite-time disturbance estimation. The proposed approach was tested on a tracking control problem for a surface vessel, demonstrating innovation compared to existing methods.
Article
Automation & Control Systems
Yunsheng Fan, Bingbing Qiu, Lei Liu, Yu Yang
Summary: This paper addresses the trajectory tracking problem of unmanned surface vehicles in the presence of unmeasurable velocities and unknown disturbances. A fixed-time sliding mode control law is proposed by combining a fixed-time extended state observer and a fixed-time differentiator. The value of this paper lies in the design of a novel guidance law that converges in a fixed time, the estimation of unmeasurable velocities and lumped disturbances using a fixed-time extended state observer, and the use of a fixed-time differentiator to obtain real-time differential signals.
Article
Automation & Control Systems
Xiaodong He, Zhiyong Geng
Summary: This paper investigates the point stabilization and trajectory tracking of underactuated surface vessels by utilizing geometric control approaches based on the matrix Lie group. The study successfully addresses the stabilization and tracking control issues of surface vessels through the use of advanced control strategies.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2021)
Article
Engineering, Marine
Zhiyuan Sun, Hanbing Sun, Ping Li, Jin Zou
Summary: This study designs a formation controller based on a virtual structure strategy to maintain the formation of underactuated surface vessels (USVs). It proposes a compensation control algorithm based on disturbance estimation to eliminate the effects of model parameter uncertainties and external environment disturbances on USV tracking control. The simulation results demonstrate the effectiveness of the proposed controller in eliminating external uncertain interference and maintaining the formation of multiple USVs.
JOURNAL OF MARINE SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Marine
Haitao Liu, Xiuying Huang, Qingqun Mai, Xuehong Tian
Summary: A fixed-time fault-tolerant control strategy is proposed in this paper for trajectory tracking of underactuated surface vessels (USVs) with input saturation. A predefined region boundary function is introduced to provide predefined specifications and convergence properties for tracking errors. The proposed control system utilizes a fixed-time adaptive neural network and Lyapunov stability theory to approximate and control unknown disturbances and nonlinear terms, resulting in improved tracking performance.
Article
Automation & Control Systems
Jianfei Lin, Haitao Liu, Xuehong Tian
Summary: This paper proposes a leader-follower formation control scheme for multiple underactuated surface vessels that addresses trajectory tracking, LOS and angle tracking errors, collision avoidance, and communication distance maintenance. The use of a tan-type barrier Lyapunov function and a self-structuring neural network contributes to achieving the desired performance and convergence of tracking errors in finite time. The effectiveness of the proposed scheme is demonstrated through numerical simulation.
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
(2022)
Article
Automation & Control Systems
Yinyan Zhang, Shuai Li, Jian Weng
Summary: This article presents a novel learning and near-optimal control approach for underactuated surface vessels with unknown disturbances and hydrodynamic parameters, where an analytical near-optimal control law is derived and state differences between auxiliary and controlled systems are proven to converge to zero globally. The method theoretically guarantees the asymptotic optimality of the performance index, as demonstrated through simulations based on real parameters of USV vessels.
IEEE TRANSACTIONS ON CYBERNETICS
(2022)
Article
Engineering, Marine
Bin Zhou, Ziyang Huang, Bing Huang, Yumin Su, Cheng Zhu
Summary: This paper proposes a dynamic event-triggered trajectory tracking control scheme for underactuated marine surface vessels. By introducing a dynamic event-driven mechanism and neural approximator, the robustness of the system is enhanced.
Article
Engineering, Marine
Bong Seok Park, Sung Jin Yoo
Summary: This paper investigates a robust quantized state feedback tracking problem with preselected performance of uncertain underactuated surface vessels. A preselected-performance-based tracking strategy using quantized states is proposed to achieve robust tracking without requiring knowledge of the USV dynamics. Design conditions of performance functions are introduced to ensure the stability of the closed-loop system using quantized feedback.
Article
Computer Science, Information Systems
Haitao Liu, Yongzhuo Li, Xuehong Tian
Summary: This paper proposes a robust trajectory tracking control method for underactuated unmanned surface vessels, combining relative threshold event-triggered mechanism, prescribed performance and finite-time convergence. The proposed method addresses the challenges posed by the nondiagonal inertia matrix and input saturation problem, and incorporates adaptive neural network for approximating uncertain dynamics. In addition, the method enhances robustness by integrating performance function constraints and dynamic surface control, and reduces communication burden by incorporating relative threshold event-triggered mechanism.
Article
Automation & Control Systems
Paolo Mason, Luca Greco
Summary: This paper investigates the problem of stabilizing the attitude of an axially symmetric 3-D pendulum. The presence of a topological obstruction and the underactuation of the system pose challenges to global stabilization. To address these challenges, the paper proposes a family of smooth feedback laws that achieve almost-global stabilization with a polynomial convergence rate, and defines a second family of feedback laws that induce almost global exponential stabilization.
