Trajectory tracking control for unmanned surface vessel with input saturation and disturbances via robust state error IDA-PBC approach

DOI10.1016/J.JFRANKLIN.2022.01.036MaRDI QIDQ2125282zbMATH OpenOpenAlexFDO

Authors Chengxing Lv, Haisheng Yu, Jian Chen, Na Zhao, Jieru Chi

Publication date 14 April 2022

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.jfranklin.2022.01.036

zbMATH Keywords

damping assignment passivity-based controlrobust state error interconnectionunmanned surface vessels

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Adaptive neural integral sliding-mode control for tracking control of fully actuated uncertain surface vessels
• Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
• Dynamic positioning of marine craft using a port-Hamiltonian framework
• Global robust adaptive path following of underactuated ships
• Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
• Speed and heading control of an unmanned surface vehicle based on state error PCH principle
• Stabilization and tracking of underactuated surface vessels in random waves with fin based on adaptive hierarchical sliding mode technique
• Trajectory tracking passivity-based control for marine vehicles subject to disturbances

Cited in

(12)

• Adaptive integral terminal super‐twisting with finite‐time convergence for an unmanned surface vehicle under disturbances
• Finite-time trajectory tracking control of unmanned surface vessel with error constraints and input saturations
• Robust fixed-time trajectory tracking control of marine surface vessel with feedforward disturbance compensation
• Trajectory tracking control of unmanned surface vehicle based on optimized barrier Lyapunov function under real ocean wave modeling
• Composite anti-disturbance dynamic positioning for mass-switched unmanned marine vehicles with multisource disturbances and actuator saturation: a switched model method
• Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
• Adaptive NN state error PCH trajectory tracking control for unmanned surface vessel with uncertainties and input saturation
• Robust state-error port-controlled Hamiltonian trajectory tracking control for unmanned surface vehicle with disturbance uncertainties
• Speed and heading control of an unmanned surface vehicle based on state error PCH principle
• Cooperative control of NN super twisting sliding mode and EPH methods for uncertain nonlinear systems
• Robust trajectory tracking control of marine surface vessels with uncertain disturbances and input saturations
• Data-driven robust backstepping control of unmanned surface vehicles

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