Course Controller Design for Unmanned Surface Vehicle Based on Trajectory Linearization Control with Input Saturation

被引：0
|
作者：
Qiu, Bingbing [1 ]
Wang, Guofeng [1 ]
Fan, Yunsheng [1 ]
Mu, Dongdong [1 ]
Sun, Xiaojie [1 ]
机构：
[1] Dalian Maritime Univ, Marine Elect Engn Coll, Dalian 116026, Liaoning, Peoples R China
来源：
PROCEEDINGS OF THE 2019 31ST CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2019) | 2019年
关键词：
USV; TLC Technology; Nonlinear Disturbance Observer; Input Saturation; NONLINEAR DISTURBANCE OBSERVER; SYSTEMS; INVERSION;
D O I：
10.1109/ccdc.2019.8832940
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper proposes a novel course controller for unmanned surface vehicle (USV) by trajectory linearization control (TLC) technology, disturbance observer technique and auxiliary design system. First, TLC is a nonlinear tracking and decoupling control technology, which is a new control method in the USV field. Then a nonlinear disturbance observer (NDO) is constructed to estimate and compensate for unknown time-varying disturbance. In addition, auxiliary design system is hired to deal with input saturation issue. All the error signals in the course control system are uniform ultimate bounded by Lyapunov stability theory. Finally, numerical simulations are presented to demonstrate the effectiveness and correctness of the proposed course control strategy.
引用
下载
收藏
页码：281 / 286
页数：6
相关论文
共 50 条
  • [21] Adaptive Sliding Mode Trajectory Tracking Control for Unmanned Surface Vehicle with Modeling Uncertainties and Input Saturation
    Qiu, Bingbing
    Wang, Guofeng
    Fan, Yunsheng
    Mu, Dongdong
    Sun, Xiaojie
    APPLIED SCIENCES-BASEL, 2019, 9 (06):
  • [22] Robust trajectory linearization control design for unmanned aerial vehicle path following
    Li, Xue-Song
    Li, Ying-Hui
    Li, Xia
    Peng, Jian-Liang
    Li, Chao-Xu
    Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics, 2012, 34 (04): : 767 - 772
  • [23] Course Control of Unmanned Surface Vehicle
    Szymak, Piotr
    ADVANCES IN MECHATRONIC SYSTEMS, MECHANICS AND MATERIALS, 2013, 196 : 117 - 123
  • [24] Disturbance observer based adaptive trajectory tracking control for Unmanned Surface Vehicle with input and state quantization
    Wang, Yu
    Li, Wei
    Ning, Jun
    Liu, Lu
    OCEAN ENGINEERING, 2024, 308
  • [25] Robust adaptive steering control for unmanned surface vehicle with unknown control direction and input saturation
    Wang, Shasha
    Fu, Mingyu
    Wang, Yuanhui
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2019, 33 (07) : 1212 - 1224
  • [26] Disturbance Observer-based Trajectory Tracking Control of Unmanned Surface Vehicles with Unknown Disturbances and Input Saturation
    Gao, Ying
    Wang, Ning
    Zheng, Zhongjiu
    PROCEEDINGS OF THE 36TH CHINESE CONTROL CONFERENCE (CCC 2017), 2017, : 4859 - 4863
  • [27] Robust Path Following Control of Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation
    Zhao, Yongsheng
    Qiu, Bingbing
    Wang, Guofeng
    Fan, Yunsheng
    IEEE ACCESS, 2021, 9 : 46106 - 46116
  • [28] Prescribed performance dynamic surface control for trajectory-tracking of unmanned surface vessel with input saturation
    Shen, Zhipeng
    Wang, Qun
    Dong, Sheng
    Yu, Haomiao
    APPLIED OCEAN RESEARCH, 2021, 113
  • [29] Trajectory tracking control of unmanned surface vessels with input saturation and full-state constraints
    Qin, Hongde
    Li, Chengpeng
    Sun, Yanchao
    Deng, Zhongchao
    Liu, Yuhan
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2018, 15 (05):
  • [30] Robust adaptive neural trajectory tracking control of unmanned surface vessels under input saturation
    Zhu, Guibing
    Du, Jialu
    PROCEEDINGS OF THE 38TH CHINESE CONTROL CONFERENCE (CCC), 2019, : 3260 - 3265
12345