Sliding-mode robust tracking control for an underactuated ship with nonzero off-diagonal terms
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- 英文论文题名：Sliding-mode robust tracking control for an underactuated ship with nonzero off-diagonal terms
- 论文作者：Wenjing Meng ; Chen Guo ; Yalei Yu
- 英文论文作者：Wenjing Meng ; Chen Guo ; Yalei Yu ; School of Information Science and Technology ; Dalian Maritime University ; School of Navigation ; Dalian Maritime University
- 年：2017
- 作者机构：School of Information Science and Technology,Dalian Maritime University;School of Navigation,Dalian Maritime University;
- 英文论文关键词：Underactuated ships ; Nonzero off-diagonal terms ; Parameter uncertainties ; Time-varying disturbances ; Tracking control
- 会议召开时间：2017-07-26
- 会议录名称：第36届中国控制会议论文集（B）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（B）
- 语种：英文
- 分类号：U664.82
- 学会代码：KZLL
- 会议名称：第36届中国控制会议
- 会议地点：中国辽宁大连
- 主办单位：中国自动化学会控制理论专业委员会
- 学会名称：中国自动化学会控制理论专业委员会
- 页数：6
- 文件大小：345k
- 原文格式：D
- 会议级别：全国
摘要
For the trajectory tracking in three degrees of freedom underactuated ships with parameters uncertainties and time-varying disturbances, a robust sliding-mode methodology is proposed. The ship's mass matrices are not assumed to be diagonal, as often required in the literature. Based on the coordinate transformations, the nonzero off-diagonal matrices are turned into the diagonal matrices. The controller is divided into the kinetic loop and the dynamic loop. In the kinetic loop, the trajectory tracking errors are transformed into stabilizing sway and surge velocities errors by backstepping technique. In the dynamic loop, the surge force and the yaw moment are controlled by the sliding-mode to stabilize the sway and surge velocities errors, respectively. Based on the Lyapunov stability analysis, it is proved that the states of system are stable. Simulation results illustrate the effectiveness and robustness of the proposed control methodology.
For the trajectory tracking in three degrees of freedom underactuated ships with parameters uncertainties and time-varying disturbances, a robust sliding-mode methodology is proposed. The ship's mass matrices are not assumed to be diagonal, as often required in the literature. Based on the coordinate transformations, the nonzero off-diagonal matrices are turned into the diagonal matrices. The controller is divided into the kinetic loop and the dynamic loop. In the kinetic loop, the trajectory tracking errors are transformed into stabilizing sway and surge velocities errors by backstepping technique. In the dynamic loop, the surge force and the yaw moment are controlled by the sliding-mode to stabilize the sway and surge velocities errors, respectively. Based on the Lyapunov stability analysis, it is proved that the states of system are stable. Simulation results illustrate the effectiveness and robustness of the proposed control methodology.
For the trajectory tracking in three degrees of freedom underactuated ships with parameters uncertainties and time-varying disturbances, a robust sliding-mode methodology is proposed. The ship's mass matrices are not assumed to be diagonal, as often required in the literature. Based on the coordinate transformations, the nonzero off-diagonal matrices are turned into the diagonal matrices. The controller is divided into the kinetic loop and the dynamic loop. In the kinetic loop, the trajectory tracking errors are transformed into stabilizing sway and surge velocities errors by backstepping technique. In the dynamic loop, the surge force and the yaw moment are controlled by the sliding-mode to stabilize the sway and surge velocities errors, respectively. Based on the Lyapunov stability analysis, it is proved that the states of system are stable. Simulation results illustrate the effectiveness and robustness of the proposed control methodology.
引文
[1]Jiang Z P.Global tracking control of underactuated ships by Lyapunov's direct method[J].Automatica,2002,38(2):301-309.
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[3]Do K D,Jiang Z P,Pan J.Robust adaptive path following of underactuated ships[J].Automatica,2004,40(6):929-944.
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[6]Ashrafiuon H,Muske K R.Sliding mode tracking control of surface vessels[C]//2008 American Control Conference.IEEE,2008:556-561.
[7]Li J H,Lee P M,Jun B H,et al.Point-to-point navigation of underactuated ships[J].Automatica,2008,44(12):3201-3205.
[8]Do K D,Jiang Z P,Pan J.Universal controllers for stabilization and tracking of underactuated ships[J].Systems&Control Letters,2002,47(4):299-317.
[9]Huang J,Wen C,Wang W,et al.Global stable tracking control of underactuated ships with input saturation[J].Systems&Control Letters,2015,85:1-7.
[10]Do K D,Pan J.Global tracking control of underactuated ships with nonzero nonzero off-diagonal terms in their system matrices[J].Automatica,2005,41(1):87-95.
[11]Do K D.Practical control of underactuated ships[J].Ocean Engineering,2010,37(13):1111-1119.
[12]Zhu Q D,Yu R T,Xia G H,et al.Sliding-mode robust Tracking control for underactuated surface ships with parameter uncertainties and external disturbances[J].Control Theory&Applications,2012,29(7):959-964.
[13]Khalil H K,Grizzle J W.Nonlinear systems[M].New Jersey:Prentice hall,1996.
[14]Fossen T I.Guidance and control of ocean vehicles[M].John Wiley&Sons Inc,1994.
[15]Slotine J J E,Li W.Applied nonlinear control[M].Englewood Cliffs,NJ:prentice-Hall,1991.
[16]Do K D,Pan J.Global tracking control of underactuated ships with nonzero off-diagonal terms[C]//Decision and Control,2003.Proceedings.42nd IEEE Conference on.IEEE,2003,2:1250-1255.
[2]Lefeber E,Pettersen K Y,Nijmeijer H.Tracking control of an underactuated ship[J].IEEE transactions on control systems technology,2003,11(1):52-61.
[3]Do K D,Jiang Z P,Pan J.Robust adaptive path following of underactuated ships[J].Automatica,2004,40(6):929-944.
[4]Do K D,Pan J.Global robust adaptive path following of underactuated ships[J].Automatica,2006,42(10):1713-1722.
[5]Ashrafiuon H,Muske K R,McN inch L C,et al.Sliding-mode tracking control of surface vessels[J].IEEE Transactions on Industrial Electronics,2008,55(11):4004-4012.
[6]Ashrafiuon H,Muske K R.Sliding mode tracking control of surface vessels[C]//2008 American Control Conference.IEEE,2008:556-561.
[7]Li J H,Lee P M,Jun B H,et al.Point-to-point navigation of underactuated ships[J].Automatica,2008,44(12):3201-3205.
[8]Do K D,Jiang Z P,Pan J.Universal controllers for stabilization and tracking of underactuated ships[J].Systems&Control Letters,2002,47(4):299-317.
[9]Huang J,Wen C,Wang W,et al.Global stable tracking control of underactuated ships with input saturation[J].Systems&Control Letters,2015,85:1-7.
[10]Do K D,Pan J.Global tracking control of underactuated ships with nonzero nonzero off-diagonal terms in their system matrices[J].Automatica,2005,41(1):87-95.
[11]Do K D.Practical control of underactuated ships[J].Ocean Engineering,2010,37(13):1111-1119.
[12]Zhu Q D,Yu R T,Xia G H,et al.Sliding-mode robust Tracking control for underactuated surface ships with parameter uncertainties and external disturbances[J].Control Theory&Applications,2012,29(7):959-964.
[13]Khalil H K,Grizzle J W.Nonlinear systems[M].New Jersey:Prentice hall,1996.
[14]Fossen T I.Guidance and control of ocean vehicles[M].John Wiley&Sons Inc,1994.
[15]Slotine J J E,Li W.Applied nonlinear control[M].Englewood Cliffs,NJ:prentice-Hall,1991.
[16]Do K D,Pan J.Global tracking control of underactuated ships with nonzero off-diagonal terms[C]//Decision and Control,2003.Proceedings.42nd IEEE Conference on.IEEE,2003,2:1250-1255.