Design and experimental validation of a nonlinear controller for underactuated surface vessels

DOI10.1007/S11071-020-06058-8MaRDI QIDQ6117159zbMATH OpenFDO

Authors Wei Xie, Joel Reis, David Cabecinhas, Carlos Silvestre

Publication date 16 August 2023

Published in Nonlinear Dynamics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/S11071-020-06058-8

zbMATH Keywords

robust nonlinear controltime-varying disturbance observersunderactuated autonomous vehicles

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Control/observation systems involving computers (process control, etc.) (93C83) Automated systems (robots, etc.) in control theory (93C85) Robust stability (93D09)

Cites work

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• Dynamic surface control of trajectory tracking marine vehicles with actuator magnitude and rate limits
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• Global time-varying stabilization of underactuated surface vessel
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• Global uniform asymptotic stabilization of an underactuated surface vessel
• Robust dynamic positioning of ships with disturbances under input saturation
• Tracking control of a marine surface vessel with full-state constraints
• Trajectory Tracking Control of Planar Underactuated Vehicles
• Trajectory tracking sliding mode control of underactuated AUVs
• Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty

Cited in

(6)

• Design of an L.Q.G. controller for single point moored large tankers
• scientific article; zbMATH DE number 7545215 (Why is no real title available?)
• Nonlinear dynamic model identification methodology for real robotic surface vessels
• Robust adaptive fault-tolerant control for a class of autonomous underwater vehicles
• Design of hybrid controller for dynamic positioning from calm to extreme sea conditions
• Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels

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