Trajectory tracking control for unmanned surface vessel with input saturation and disturbances via robust state error IDA-PBC approach
DOI10.1016/J.JFRANKLIN.2022.01.036zbMATH Open1485.93392OpenAlexW4213037876MaRDI QIDQ2125282FDOQ2125282
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
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damping assignment passivity-based controlrobust state error interconnectionunmanned surface vessels
Sensitivity (robustness) (93B35) Perturbations in control/observation systems (93C73) Automated systems (robots, etc.) in control theory (93C85)
Cites Work
- Interconnection and damping assignment passivity-based control of port-controlled Hamiltonian systems
- Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
- Global robust adaptive path following of underactuated ships
- Dynamic positioning of marine craft using a port-Hamiltonian framework
- Stabilization and tracking of underactuated surface vessels in random waves with fin based on adaptive hierarchical sliding mode technique
- Speed and heading control of an unmanned surface vehicle based on state error PCH principle
- Trajectory tracking passivity-based control for marine vehicles subject to disturbances
- Adaptive neural integral sliding-mode control for tracking control of fully actuated uncertain surface vessels
Cited In (12)
- Robust fixed-time trajectory tracking control of marine surface vessel with feedforward disturbance compensation
- Composite anti-disturbance dynamic positioning for mass-switched unmanned marine vehicles with multisource disturbances and actuator saturation: a switched model method
- Finite-time trajectory tracking control of unmanned surface vessel with error constraints and input saturations
- Robust state-error port-controlled Hamiltonian trajectory tracking control for unmanned surface vehicle with disturbance uncertainties
- Adaptive NN state error PCH trajectory tracking control for unmanned surface vessel with uncertainties and input saturation
- Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics
- Trajectory tracking control of unmanned surface vehicle based on optimized barrier Lyapunov function under real ocean wave modeling
- Adaptive integral terminal super‐twisting with finite‐time convergence for an unmanned surface vehicle under disturbances
- Cooperative control of NN super twisting sliding mode and EPH methods for uncertain nonlinear systems
- Data-driven robust backstepping control of unmanned surface vehicles
- Robust trajectory tracking control of marine surface vessels with uncertain disturbances and input saturations
- Speed and heading control of an unmanned surface vehicle based on state error PCH principle
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