Robust tracking control of underactuated surface vessels is an important issue in marine control engineering all along. This study intends to enhance the robustness of the motion control system which associates with unknown dynamics and time‐varying disturbances. A practical adaptive backstepping control scheme is developed to keep a surface ship along the desired course that generated by a virtual ship. This control scheme can guarantee the error dynamic system to be globally uniformly asymptotically stable by the Lyapunov stability theorem. Furthermore, this algorithm can be implemented without the exact information of the non‐linear hydrodynamics and random ocean disturbances. The employed pre‐filter can provide a smooth transition of the desired course angle and its derivatives that based on the line‐of‐sight guidance method when the desired path is a non‐smooth curve. The proposed controller can steer the underactuated vessel and follow the reference course accurately whether the desired course is smooth or non‐smooth. In addition, this method can effectively reduce the fluctuation of the control moment when the desired path is a non‐smooth curve. Two simulation cases are drawn to illustrate the validity of the proposed control strategy.
Practical backstepping control for underactuated ship path following associated with disturbances
IET Intelligent Transport Systems ; 13 , 5 ; 834-840
2019-05-01
7 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
smooth transition , reference course , surface ship , time‐varying systems , ships , marine control , control nonlinearities , nonsmooth curve , random ocean disturbances , virtual ship , neurocontrollers , control system synthesis , practical backstepping control , time‐varying disturbances , marine vehicles , Lyapunov stability theorem , course angle , line‐of‐sight guidance method , underactuated vessel , motion control , Lyapunov methods , underactuated surface vessels , motion control system , error dynamic system , underactuated ship path , control moment , hydrodynamics , marine control engineering , robust control , unknown dynamics , position control , nonlinear control systems , asymptotic stability , adaptive control , nonlinear hydrodynamics , robust tracking control , closed loop systems
Practical backstepping control for underactuated ship path following associated with disturbances
IET | 2019
|Pre-Filtered Backstepping Control for Underactuated Ship Path Following
DOAJ | 2019
|Pre-Filtered Backstepping Control for Underactuated Ship Path Following
Online Contents | 2019
|