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path following Control of Underactuated Ships Based on Unscented Kalman Filter

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Journal of Shanghai Jiaotong university(Science) 2010年第1期15卷 108-113页

作者：王晓飞邹早建王洋李铁山 School of Naval Architecture Ocean and Civil Engineering State Key Laboratory of Ocean Engineering School of Electronic Information and Electrical Engineering Shanghai Jiaotong University

A path following controller is proposed to force an underactuated surface ship which is suffering from disturbance to follow a predefined *** controller is based on analytic model predictive control and unscented Kalman filter(UKF) *** analytic model predictive control provides a systematic method to get appropriate controller parameters to guarantee the stability of the closed-loop system,and the well-defined relative degree is guaranteed by introducing *** UKF is used to estimate the states and uncertain parameters due to time-varying added mass *** help of the proposed UKF-based controller,the underactuated ship with time-varying parameters can follow a desired straight *** results are presented to demonstrate the effectiveness of the proposed controller.

关键词： underactuated ship path following model predictive control unscented Kalman filter (UKF)

path following control of underactuated ships based on nonswitch analytic model predictive control

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控制理论与应用（英文版） 2010年第4期8卷 429-434页

作者： Xiaofei WANG Zaojian ZOU Tieshan LI Weilin LUO School of Naval Architecture Ocean and Civil Engineering Shanghai Jiao Tong University Shanghai 200240 China State Key Laboratory of Ocean Engineering Shanghai Jiao Tong University Shanghai 200030 China

A path following controller is developed for underactuated ships with only surge force and yaw moment available to follow a predefined *** proposed controller is based on nonswitch analytic model predictive *** is shown that the optimal control law for a nonlinear path following system with ill-defined relative degree is continuous and *** problem of ill-defined relative degree is *** path-following ability of the nonlinear system is *** simulations are provided to demonstrate the effectiveness of the proposed control law.

关键词： Underactuated ship path following Model predictive control Ill-defined relative degree

Finite-Time Sideslip Differentiator-Based LOS Guidance for Robust path following of Snake Robots

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IEEE/CAA Journal of Automatica Sinica 2023年第1期10卷 239-253页

作者： Yang Xiu Dongfang Li Miaomiao Zhang Hongbin Deng Rob Law Yun Huang Edmond Q.Wu Xin Xu the School of Mechatronical Engineering Beijing Institute of TechnologyBeijing 100081China the School of Electrical Engineering and Automation Fuzhou UniversityFuzhou 350108 the Antai College of Economics&Management Shanghai Jiao Tong UniversityShanghai 200240China the Department of Automation Shanghai Jiao Tong UniversityShanghai 200240China the Asia-Pacific Academy of Economics and Management University of MacaoMacao 999078China the Department of Decision Science Macao University of Science and TechnologyMacao 999078China the Department of Automation Shanghai Jiao Tong Universityand also with the Key Laboratory of System Control and Information ProcessingMinistry of Education of ChinaShanghai 200240China the College of Mechatronics and Automation National University of Defense TechnologyChangsha 410073China IEEE

This paper presents a finite-time sideslip differentiator-based line-of-sight(LOS)guidance method for robust path following of snake ***,finite-time stable sideslip differentiator and adaptive LOS guidance method are proposed to counteract sideslip drift caused by cross-track *** proposed differentiator can accurately observe the cross-track error and sideslip angle for snake robots to avoid errors caused by calculating sideslip angle *** our method,the designed piecewise auxiliary function guarantees the finite-time stability of position ***,for the case of external disturbances and state constraints,a Barrier Lyapunov functionbased backstepping adaptive path following controller is presented to improve the robot’s *** uniform ultimate boundedness of the closed-loop system is proved by analyzing ***,a gait frequency adjustment-based virtual velocity control input is derived to achieve the exponential convergence of the tangential *** last,the availability and superiority of this work are shown through simulation and experiment results.

关键词： Line-of-sight(LOS) path following sideslip snake robot

Control of a Spherical Robot: path following Based on Nonholonomic Kinematics and Dynamics

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Chinese Journal of Aeronautics 2011年第3期24卷 337-345页

作者： ZHENG Minghui ZHAN Qiang LIU Jinkun CAI Yao Robotics Institute Beihang University Beijing 100191 China School of Automation Science and Electrical Engineering Beihang University Beijing 100191 China

This paper presents the controller design for the path following of a spherical mobile robot, BHQ-1. Firstly, a desired velocity for the reference path is deduced from the kinematic model, which cannot be transformed into the classic chained form. Secondly, a necessary torque for the desired velocity is obtained based on the dynamic model. As to the kinematics, a one-dimensional function is selected to measure the two-directional tracking error, and the velocity of rolling forward is reasonably assumed to be constant; therefore the multiple-input multiple-output （MIMO） system is transformed into a single-input single-output （SISO） system. As to the dynamics, both exact dynamics and inexact dynamics with modeling error as well as bounded unknown disturbance are taken into account, based on which a proportional-derivative （PD） controller and a sliding mode controller with adaptive parameters are proposed respectively. Finally, convergence analysis and simulation results are provided to validate these controllers.

关键词： spherical robot path following nonholonomic kinematics dynamics

Adaptive back-stepping control on container ships for path following

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Journal of Systems Engineering and Electronics 2020年第4期31卷 780-790页

作者： ZHAO Yang DONG Lili Physics and Engineering Department Taylor UniversityUpland IN 46989USA Department of Electrical Engineering and Computer Science Cleveland State UniversityCleveland OH 44115USA

A feedback-dominance based adaptive back-stepping(FDBAB) controller is designed to drive a container ship to follow a predefined path. In reality, current, wave and wind act on the ship and produce unwanted disturbances to the ship control *** FDBAB controller has to compensate for such disturbances and steer the ship to track the predefined(or desired) path. The difference between the actual and the desired path along which the ship is to sail is defined as the tracking error. The FDBAB controller is built on the tracking error model which is developed based on Serret-Frenet frame transformation(SFFT). In additional to being affected by external disturbances, the ship has more outputs than inputs(under-actuated), and is inherently *** back-stepping controller in FDBAB is used to compensate the nonlinearity. The adaptive algorithms in FDBAB is employed to approximate disturbances. Lyapunov's direct method is used to prove the stability of the control system. The FDBAB controlled system is implemented in Matlab/Simulink. The simulation results verify the effectiveness of the controller in terms of successful path tracking and disturbance rejection.

关键词： under-actuated nonlinear environmental disturbance path following Serret-Frenet frame transformation(SFFT) ship steering

Aircraft-on-ground path following control by dynamical adaptive backstepping

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Chinese Journal of Aeronautics 2013年第3期26卷 668-675页

作者： Chen Bihua Jiao Zongxia Shuzhi Sam Ge Science and Technology on Aircraft Control Laboratory Beihang University Department of Electrical & Computer Engineering National University of Singapore

The necessity of improving the air traffic and reducing the aviation emissions drives to investigate automatic steering for aircraft to effectively roll on the ground. This paper addresses the path following control problem of aircraft-on-ground and focuses on the task that the aircraft is required to follow the desired path on the runway by nose wheel automatic steering. The proposed approach is based on dynamical adaptive backstepping so that the system model does not have to be transformed into a canonical triangular form which is necessary in conventional backstepping design. This adaptive controller performs well despite the lack of information on the aerodynamic load and the tire cornering stiffness parameters. Simulation results clearly demonstrate the advantages and effectiveness of the proposed approach.

关键词： Adaptive control Aircraft-on-ground Backstepping Nonlinear dynamical systems path following

Sliding-mode control of path following for underactuated ships based on high gain observer

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Journal of Central South University 2016年第12期23卷 3356-3364页

作者：秦梓荷林壮孙寒冰杨东梅 College of Shipbuilding Engineering Harbin Engineering University

A nonlinear robust control strategy is proposed to force an underactuated surface ship to follow a predefined path with uncertain environmental disturbance and *** the controller design,a high-gain observer is used to estimate velocities,thus only position and yaw angle measurements are *** control problem of underactuated system is transformed into a control of fully actuated system through adopting an improved line-of-sight(LOS) guidance law.A sliding-mode controller is designed to eliminate the yaw angle error,and provide the control system *** control law is proved semi-globally exponentially stable(SGES) by applying Lyapunov stability theory,and numerical simulation using real data of a monohull ship illustrates the effectiveness and robustness of the proposed methodology.

关键词： underactuated ship path following sliding-mode control line-of-sight guidance high gain observer

Adaptive sliding-mode path following control system of the underactuated USV under the influence of ocean currents

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Journal of Systems Engineering and Electronics 2018年第6期29卷 1271-1283页

作者： CHEN Xiao LIU Zhong ZHANG Jianqiang ZHOU Dechao DONG Jiao School of Weaponry Engineering Naval University of Engineering

The path-following control of the asymmetry underactuated unmanned surface vehicle(USV) under external disturbances such as unknown constant and irrational ocean currents is discussed, and an adaptive sliding-mode path-following control system is proposed, which comprises a path-variable updated law,a modified integral line-of-sight(ILOS) guidance law based on a time-varying lookahead distance and adaptive feedback linearizing controllers combined with sliding-mode technique. A more accurate USV model without the assumption of having diagonal inertia and damping matrices is first presented, aiming at improving the performance of the path-following control. Next, the coordinate transformation is adopted to decouple the sway dynamic from the rudder angle, and the path-following errors dynamics without non-singular problem are presented in the moving Frenet-Serret frame. Then, based on the cascaded theorem and the adaptive sliding-mode method, the adaptive control law of position errors and course error are designed, among which the lookahead distance and integral gain are all computed as different functions of cross-track error to estimate and compensate the sideslip angle caused by external disturbances adaptively. Finally, according to the Lyapunov and cascaded theorem, the control system proposed is proved to be uniform globally asymptotic stability(UGAS) and uniform semiglobal exponential stability(USGES) when the control objectives are all achieved. Simulation results illustrate the precision and high-quality performance of this new controller.

关键词： sliding-mode control unmanned surface vehicle(USV) integral line-of-sight(ILOS) path following proof of stability

SYNCHRONIZED path following CONTROL OF MULTIPLE HOMOGENOUS UNDERACTUATED AUVS

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Journal of Systems Science & Complexity 2012年第1期25卷 71-89页

作者： Xianbo XIANG Chao LIU Lionel LAPIERRE Bruno JOUVENCEL School of Naval Architecture and Ocean Engineering Huazhong University of Science and Technology Department of Robotics LIRMM-CNRS-UMIIUMR 5506161 rue AdaMontpellier Cedex 534095France Department of Robotics LIRMM-CNRSUMR 5506161 rue AdaMontpellier Cedex 534095France

This paper addresses the problem of synchronized path following of multiple homogenous underaetuated autonomous underwater vehicles （AUVs）. The dedicated control laws are categorized into two envelopes： One is steering individual underwater vehicle to track along predefined path, and the other is ensuring tracked paths of multiple vehicles to be synchronized, by means of decentralized speed adaption under the constraints of multi-vehicle communication topology. With these two tasks formulation, geometric path following is built on Lyapunov theory and baekstepping techniques, while injecting helmsman behavior into classic individual path following control. Synchronization of path parameters are reached by using a mixture of tools from linear algebra, graph theory and nonlinear control theory. A simple but effective control design on direct inter-vehicle speed adaption with minimized communication variables, enables the multi-AUV systems to be synchronized and stabilized into an invariant manifold, and all speeds converge to desired assignments as a byproduct. Simulation results illustrate the performance of the synchronized path following control laws proposed.

关键词： path following synchronization underactuated AUVs.