The Unmanned Surface Vehicle Course Tracking Control with Input Saturation
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- 英文论文题名：The Unmanned Surface Vehicle Course Tracking Control with Input Saturation
- 论文作者：Yiming Bai ; Yongsheng Zhao ; Yunsheng Fan
- 英文论文作者：Yiming Bai ; Yongsheng Zhao ; Yunsheng Fan ; Information Science and Technology College ; Dalian Maritime University
- 年：2017
- 作者机构：Information Science and Technology College, Dalian Maritime University;
- 英文论文关键词：Course tracking ; input saturation ; backstepping algorithm
- 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（A）
- 英文会议录名称：Proceedings of the 36th Chinese Control Conference（A）
- 语种：英文
- 分类号：TP273;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：4
- 文件大小：315k
- 原文格式：D
- 会议级别：全国
摘要
The great challenge posed by unmanned surface vehicle is to improve the automation level in practical application. In this paper, an unmanned surface vehicle course tracking controller is designed to overcome the input saturation caused by the limitation of the steering engine. The feedback control law is developed based on backstepping design method with the Lyapunov stability theory. An auxiliary design system is employed to handle the effect of input saturation. The simulation is carried out to verify the backstepping control design.
The great challenge posed by unmanned surface vehicle is to improve the automation level in practical application. In this paper, an unmanned surface vehicle course tracking controller is designed to overcome the input saturation caused by the limitation of the steering engine. The feedback control law is developed based on backstepping design method with the Lyapunov stability theory. An auxiliary design system is employed to handle the effect of input saturation. The simulation is carried out to verify the backstepping control design.
The great challenge posed by unmanned surface vehicle is to improve the automation level in practical application. In this paper, an unmanned surface vehicle course tracking controller is designed to overcome the input saturation caused by the limitation of the steering engine. The feedback control law is developed based on backstepping design method with the Lyapunov stability theory. An auxiliary design system is employed to handle the effect of input saturation. The simulation is carried out to verify the backstepping control design.
引文
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[6]Wang G,Kai Z,Wang X.Nonsmooth controller design of ship steering with saturation[J].Journal of Central South University,2013,1(12):564-569 vol.1.
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[9]Wang G,Kai Z,Wang X,Zhao Y Z.Robust backstepping control of ship steering with rudder saturation,ICIC Express Letters,2014,8(7),pp 1903-1909.
[10]Li J,Li T,Fan Z,et al.Robust adaptive backstepping design for course-keeping control of ship with parameter uncertainty and input saturation[C]Soft Computing and Pattern Recognition(So CPa R),2011 International Conference of.IEEE,2011:63-67.
[2]Naeem W,Irwin G W,Yang A.COLREGs-based collision avoidance strategies for unmanned surface vehicles[J].Mechatronics,2012,22(6):669–678.
[3]Campbell S,Naeem W,Irwin G W.A review on improving the autonomy of unmanned surface vehicles through intelligent collision avoidance manoeuvres[J].Annual Reviews in Control,2012,36(2):267-283.
[4]Liao Y L,Pang Y J,Zhuang J Y.Backstepping adaptive sliding mode control for unmanned surface vessel course tracking with water-jet-propelled[J].Application Research of Computers,2012:82-84.
[5]Huang J,Wen C,Wang W,et al.Global stable tracking control of under actuated ships with input saturation[J].Systems&Control Letters,2015,85:1-7.
[6]Wang G,Kai Z,Wang X.Nonsmooth controller design of ship steering with saturation[J].Journal of Central South University,2013,1(12):564-569 vol.1.
[7]Yu F.Adaptive Fuzzy Design of Ship's Autopilot with Input Saturation[C]International Conference on Information Technology and Applications.2013:312-317.
[8]Du J,Hu X,Krsti M,et al.Robust dynamic positioning of ships with disturbances under input saturation[J].Automatica.
[9]Wang G,Kai Z,Wang X,Zhao Y Z.Robust backstepping control of ship steering with rudder saturation,ICIC Express Letters,2014,8(7),pp 1903-1909.
[10]Li J,Li T,Fan Z,et al.Robust adaptive backstepping design for course-keeping control of ship with parameter uncertainty and input saturation[C]Soft Computing and Pattern Recognition(So CPa R),2011 International Conference of.IEEE,2011:63-67.