IEEETIV Wang 2017.pdf (859.08 kB)
Download fileFast and accurate trajectory tracking control of an autonomous surface vehicle with unmodeled dynamics and disturbances
journal contribution
posted on 2017-05-15, 08:54 authored by Ning Wang, Shuailin Lv, Meng Joo Er, Wen-Hua ChenWen-Hua ChenIn 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 VehiclesVolume
1Issue
3Pages
230 - 243Citation
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
© IEEEVersion
- AM (Accepted Manuscript)
Publication date
2016-09-01Notes
Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.ISSN
2379-8858eISSN
2379-8904Publisher version
Language
- en