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Fast and accurate trajectory tracking control of an autonomous surface vehicle with unmodeled dynamics and disturbances

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posted on 15.05.2017, 08:54 by Ning Wang, Shuailin Lv, Meng Joo Er, Wen-Hua Chen
In this paper, fast and accurate trajectory tracking control of an autonomous surface vehicle (ASV) with complex unknowns including unmodeled dynamics, uncertainties and/or unknown disturbances is addressed within a proposed homogeneity-based finite-time control (HFC) framework. Major contributions are as follows: (1) In the absence of external disturbances, a nominal HFC framework is established to achieve exact trajectory tracking control of an ASV, whereby global finitetime stability is ensured by combining homogeneous analysis and Lyapunov approach; (2) Within the HFC scheme, a finite-time disturbance observer (FDO) is further nested to rapidly and accurately reject complex disturbances, and thereby contributing to an FDO-based HFC (FDO-HFC) scheme which can realize exactness of trajectory tracking and disturbance observation; (3) Aiming to exactly deal with complicated unknowns including unmodeled dynamics and/or disturbances, a finite-time unknown observer (FUO) is deployed as a patch for the nominal HFC framework, and eventually results in an FUO-based HFC (FUOHFC) scheme which guarantees that accurate trajectory tracking can be achieved for an ASV under harsh environments. Simulation studies and comprehensive comparisons conducted on a benchmark ship demonstrate the effectiveness and superiority of the proposed HFC schemes.

History

School

  • Aeronautical, Automotive, Chemical and Materials Engineering

Department

  • Aeronautical and Automotive Engineering

Published in

IEEE Transactions on Intelligent Vehicles

Volume

1

Issue

3

Pages

230 - 243

Citation

WANG, N. ...et al., 2016. Fast and accurate trajectory tracking control of an autonomous surface vehicle with unmodeled dynamics and disturbances. IEEE Transactions on Intelligent Vehicles, 1(3), pp. 230-243.

Publisher

© IEEE

Version

AM (Accepted Manuscript)

Publication date

2016-09-01

Notes

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ISSN

2379-8858

eISSN

2379-8904

Language

en

Exports