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

DOI10.1016/j.jfranklin.2022.01.036zbMath1485.93392OpenAlexW4213037876MaRDI QIDQ2125282

Jian Chen, Chengxing Lv, Haisheng Yu, 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)

Related Items (2)

Energy shaping control of a class of underactuated mechanical systems with high-order actuator dynamics ⋮ Cooperative control of NN super twisting sliding mode and EPH methods for uncertain nonlinear systems

Cites Work

• Dynamic positioning of marine craft using a port-Hamiltonian framework
• Adaptive tracking control of uncertain MIMO nonlinear systems with input constraints
• 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
• 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
• Stabilization And Tracking Of Underactuated Surface Vessels In Random Waves With Fin Based On Adaptive Hierarchical Sliding Mode Technique

This page was built for publication: Trajectory tracking control for unmanned surface vessel with input saturation and disturbances via robust state error IDA-PBC approach