Stable Backstepping Control of Marine Vehicles with Actuator Rate Limits and Saturation

被引：23
|
作者：
von Ellenrieder, Karl D. [1 ]
机构：
[1] Libera Univ Bolzano, Fac Sci & Technol, I-39100 Bz, Italy
来源：
IFAC PAPERSONLINE | 2018年 / 51卷 / 29期
基金：
美国国家科学基金会;
关键词：
Actuator Saturation; Actuator Rate Limits; Backstepping; Marine Vehicle Control; TRACKING CONTROL;
D O I：
10.1016/j.ifacol.2018.09.513
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A six degree of freedom nonlinear control law for the trajectory tracking of marine vehicles that operate in the presence of unknown time-varying disturbances, input saturation and actuator rate limits is developed using a disturbance observer and nonlinear backstepping. The disturbance observer provides estimates of the unknown time-varying disturbances and a continuously differentiable function is employed to model input saturation. The uniform ultimate boundedness of all signals in the closed-loop control system is proved. Trajectory tracking simulations of an autonomous underwater vehicle demonstrate the performance of the proposed controller. (C) 2018, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.
引用
收藏
页码：262 / 267
页数：6
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