Disturbance-observer-based Path Following Predictive Controller for Underactuated Surface Vessels
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- 英文论文题名：Disturbance-observer-based Path Following Predictive Controller for Underactuated Surface Vessels
- 论文作者：Liping Zhang ; Zhongcai Zhang ; Yuqiang Wu
- 英文论文作者：Liping Zhang ; Zhongcai Zhang ; Yuqiang Wu ; Institute of Automation ; Qufu Normal University
- 年：2017
- 作者机构：Institute of Automation,Qufu Normal University;
- 英文论文关键词：Underactuated Surface Vessels ; Environmental Disturbance ; Disturbance Observer ; Composite Controller
- 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：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：165k
- 原文格式：D
- 会议级别：全国
摘要
The path-following control problem is considered for a 3 degree-of-freedom underactuated surface vessel with disturbances. The Serret-Frenet coordinate and nonlinear state transformations are used to transform the system into a SISO nonlinear chained system. By using the disturbance observer to compensate the influence of external dynamic disturbance, a composite generalized predictive anti-disturbance controller, which integrate the nonlinear disturbance observer with the feedback loop, is proposed. The controller guarantees that the system state trajectories can asymptotically track the given reference trajectories. The numerical simulations demonstrate the validity of the antidisturbance control strategy.
The path-following control problem is considered for a 3 degree-of-freedom underactuated surface vessel with disturbances. The Serret-Frenet coordinate and nonlinear state transformations are used to transform the system into a SISO nonlinear chained system. By using the disturbance observer to compensate the influence of external dynamic disturbance, a composite generalized predictive anti-disturbance controller, which integrate the nonlinear disturbance observer with the feedback loop, is proposed. The controller guarantees that the system state trajectories can asymptotically track the given reference trajectories. The numerical simulations demonstrate the validity of the antidisturbance control strategy.
The path-following control problem is considered for a 3 degree-of-freedom underactuated surface vessel with disturbances. The Serret-Frenet coordinate and nonlinear state transformations are used to transform the system into a SISO nonlinear chained system. By using the disturbance observer to compensate the influence of external dynamic disturbance, a composite generalized predictive anti-disturbance controller, which integrate the nonlinear disturbance observer with the feedback loop, is proposed. The controller guarantees that the system state trajectories can asymptotically track the given reference trajectories. The numerical simulations demonstrate the validity of the antidisturbance control strategy.
引文
[1]Z.Zhang,Y.Wu,J.Huang,Robust adaptive antiswing control of underactuated crane systems with two parallel payloads and rail length constraint,ISA Transactions,2016,65:275-283.
[2]Z.Zhang,Y.Wu,Modeling and adaptive tracking for stochastic nonholonomic constrained mechanical systems,Nonlinear Analysis:Modelling and Control,2016,21(2):166-184.
[3]Z.Zhang,Y.Wu,Adaptive motion and force tracking control for nonholonomic dynamic systems subject to affine constraints,Transactions of the Institute of Measurement and Control,2016,38(4):482-491.
[4]Y.Wu,C.Zhu,Energy control for parallel-type double inverted pendulums with restricted cart rail length,Control Theory&Applications,2015,32(9):1254-1260.
[5]T.Fossen,Guidance and Control of Ocean Vehicles,John Wiley&Son,UK,1994.
[6]T.Fossen,A.Grovlen,Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping.IEEE Transactions on Control Systems Technology,1998,6(3):121-128.
[7]M.Egerstedt,X.Hu,A hybrid control approach to action coordination for mobile robots.Automatica,2002,38(1):125-130.
[8]K.Do,J.Pan,State-and output-feedback robust pathollowing controllers for underactuated ships using SerrentFrenet frame.Ocean Engineering,2004,31(5):587-613.
[9]W.Chen,D.Ballance,P.Gawthrop,J.Gribble,J.Reilly,Nonlinear PID predictive controller,IEEE Proceeding Control Theory Apply,1999,146(6):603-611.
[10]P.Gawthrop,Self-tuning PID controllers:Algorithms and implementation,IEEE Transactions on Automatic Control,1986,31(3):201-209.
[11]M.Soroush,H.Soroush,Input-output linearising nonlinear model predictive control,International Journal of Control,1997,68(6):1449-1473.
[12]W.Chen,Disturbance observer based control for nonlinear systems,IEEE Transactions On Mechatronics,2004,9(4):706-710.
[13]A.Isidori,C.Byrnes,Output regulation of nonlinear systems,IEEE Transactions on Automatic Control,1990,35(2):131-140.
[14]W.Chen,D.Ballance,P.Gawthrop,J.Reilly,A nonlinear disturbance observer for two-link robotic manipulators,IEEE Transactions Industrial Electronics,2000,47(4):932-938.
[15]X.Wang,Study on path following control for underactuated ships by using analytic modle predictive control,Shanghai:Shanghai Jiao Tong University,2009.
[16]A.Isidori,Nonlinear Control Systems:An Introduction,3rd ed,New York:Springer-Verlag,1995.
[17]Z.Zhang,Y.Wu,Further results on global stabilisation and tracking control for underactuated surface vessels with non-diagonal inertia and damping matrices,International Journal of Control,2015,88(9):1679-1692.
[18]Z.Zhang,Y.Wu,Switching-based asymptotic stabilisation of underactuated ships with non-diagonal terms in their system matrices,IET Control Theory and Applications,2015,9(6):972-980.
[19]Z.Zhang,Y.Wu,,J.Huang,Differential-flatness-based finite-time anti-swing control of underactuated crane systems,Nonlinear Dynamics,2017,87(3):1749-1761.
[2]Z.Zhang,Y.Wu,Modeling and adaptive tracking for stochastic nonholonomic constrained mechanical systems,Nonlinear Analysis:Modelling and Control,2016,21(2):166-184.
[3]Z.Zhang,Y.Wu,Adaptive motion and force tracking control for nonholonomic dynamic systems subject to affine constraints,Transactions of the Institute of Measurement and Control,2016,38(4):482-491.
[4]Y.Wu,C.Zhu,Energy control for parallel-type double inverted pendulums with restricted cart rail length,Control Theory&Applications,2015,32(9):1254-1260.
[5]T.Fossen,Guidance and Control of Ocean Vehicles,John Wiley&Son,UK,1994.
[6]T.Fossen,A.Grovlen,Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping.IEEE Transactions on Control Systems Technology,1998,6(3):121-128.
[7]M.Egerstedt,X.Hu,A hybrid control approach to action coordination for mobile robots.Automatica,2002,38(1):125-130.
[8]K.Do,J.Pan,State-and output-feedback robust pathollowing controllers for underactuated ships using SerrentFrenet frame.Ocean Engineering,2004,31(5):587-613.
[9]W.Chen,D.Ballance,P.Gawthrop,J.Gribble,J.Reilly,Nonlinear PID predictive controller,IEEE Proceeding Control Theory Apply,1999,146(6):603-611.
[10]P.Gawthrop,Self-tuning PID controllers:Algorithms and implementation,IEEE Transactions on Automatic Control,1986,31(3):201-209.
[11]M.Soroush,H.Soroush,Input-output linearising nonlinear model predictive control,International Journal of Control,1997,68(6):1449-1473.
[12]W.Chen,Disturbance observer based control for nonlinear systems,IEEE Transactions On Mechatronics,2004,9(4):706-710.
[13]A.Isidori,C.Byrnes,Output regulation of nonlinear systems,IEEE Transactions on Automatic Control,1990,35(2):131-140.
[14]W.Chen,D.Ballance,P.Gawthrop,J.Reilly,A nonlinear disturbance observer for two-link robotic manipulators,IEEE Transactions Industrial Electronics,2000,47(4):932-938.
[15]X.Wang,Study on path following control for underactuated ships by using analytic modle predictive control,Shanghai:Shanghai Jiao Tong University,2009.
[16]A.Isidori,Nonlinear Control Systems:An Introduction,3rd ed,New York:Springer-Verlag,1995.
[17]Z.Zhang,Y.Wu,Further results on global stabilisation and tracking control for underactuated surface vessels with non-diagonal inertia and damping matrices,International Journal of Control,2015,88(9):1679-1692.
[18]Z.Zhang,Y.Wu,Switching-based asymptotic stabilisation of underactuated ships with non-diagonal terms in their system matrices,IET Control Theory and Applications,2015,9(6):972-980.
[19]Z.Zhang,Y.Wu,,J.Huang,Differential-flatness-based finite-time anti-swing control of underactuated crane systems,Nonlinear Dynamics,2017,87(3):1749-1761.