Global stabilisation and tracking control of underactuated surface vessels

被引：108
|
作者：
Ghommam, J. [1 ]
Mnif, F. [1 ,2 ]
Derbel, N. [1 ]
机构：
[1] ENIS, Res Unit Mechatron & Autonomous Syst, Sfax, Tunisia
[2] Sultan Qaboos Univ, Muscat 123, Oman
来源：
IET CONTROL THEORY AND APPLICATIONS | 2010年 / 4卷 / 01期
关键词：
EXPONENTIAL STABILIZATION; MOBILE ROBOTS; FEEDBACK; SYSTEMS; SHIP;
D O I：
10.1049/iet-cta.2008.0131
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this study, the authors solve the problem of uniform global asymptotic stabilisation and global exponential tracking for an underactuated ship with only two propellers. A unified backstepping design methodology is proposed to tackle both the stabilisation and tracking problems. The obvious advantage of this framework is that the controller design procedure is systematic and analytically simple. The study also addresses the tracking problem with constant bias of environmental disturbances. Simulation results are provided to validate our theoretical results.
引用
收藏
页码：71 / 88
页数：18
相关论文
共 50 条
  • [21] Tracking Control Algorithms Design of Underactuated Vessels
    Chen, Yuqing
    Shen, Zhipeng
    Guo, Chen
    2017 29TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC), 2017, : 1535 - 1538
  • [22] Trajectory Tracking Control for Underactuated Surface Vessels Based on Nonlinear Model Predictive Control
    Liu, Chenguang
    Zheng, Huarong
    Negenborn, Rudy R.
    Chu, Xiumin
    Wang, Le
    COMPUTATIONAL LOGISTICS (ICCL 2015), 2015, 9335 : 166 - 180
  • [23] The stabilization control of underactuated surface vessels
    Bing Han
    Guo-liang Zhao
    Hao Meng
    Journal of Marine Science and Application, 2004, 3 (2) : 63 - 68
  • [24] Cooperative control of underactuated surface vessels
    Dong, W.
    IET CONTROL THEORY AND APPLICATIONS, 2010, 4 (09): : 1569 - 1580
  • [25] Point stabilization and trajectory tracking of underactuated surface vessels: A geometric control approach
    He, Xiaodong
    Geng, Zhiyong
    JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2021, 358 (14): : 7119 - 7141
  • [26] Trajectory tracking controller for underactuated surface vessels based on model predictive control
    Liu, Chen-Guang
    Chu, Xiu-Min
    Wang, Le
    Xie, Shuo
    Wu, Qing
    Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, 2015, 49 (12): : 1842 - 1848
  • [27] A simple output-feedback control for trajectory tracking of underactuated surface vessels
    Park, Bong Seok
    OCEAN ENGINEERING, 2017, 143 : 133 - 139
  • [28] Command Filter Sliding Mode Robust Tracking Control of Underactuated Surface Vessels
    Wang Yan
    Meng Hao
    Liu Zhilin
    Yang Zhen
    Lin Zhuang
    2013 32ND CHINESE CONTROL CONFERENCE (CCC), 2013, : 4208 - 4213
  • [29] Trajectory tracking for underactuated surface vessels with time delays and unknown control directions
    Chen, Hua
    Chen, Yun
    Wang, Mengqi
    IET CONTROL THEORY AND APPLICATIONS, 2022, 16 (06): : 587 - 599
  • [30] Composite learning tracking control or underactuated marine surface vessels with output constraints
    Yan, Huaran
    Xiao, Yingjie
    Zhang, Honghang
    PEERJ COMPUTER SCIENCE, 2022, 8
12345