Adaptive Output Feedback Tracking Control of Surface Vessels Under Input Saturation
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- 英文论文题名：Adaptive Output Feedback Tracking Control of Surface Vessels Under Input Saturation
- 论文作者：Jian Li ; Jialu Du ; Xin Hu
- 英文论文作者：Jian Li ; Jialu Du ; Xin Hu ; School of Information Science and Technology ; Dalian Maritime University
- 年：2017
- 作者机构：School of Information Science and Technology,Dalian Maritime University;
- 英文论文关键词：Surface vessels ; high-gain observer ; neural networks ; input saturation ; dynamic surface control ; output feedback 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（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：284k
- 原文格式：D
- 会议级别：全国
摘要
In the presence of unmeasured velocity,unknown dynamic model parameters,unknown time-variant disturbances and input saturation,this paper develops an adaptive output feedback tracking control law for surface vessels using high-gain observer,radial basis function(RBF) neural networks,auxiliary dynamic system and the dynamic surface control(DSC).The high-gain observer is constructed to provide the estimates of unmeasured velocity vector,the RBF neural networks are employed to approximate the uncertainties of ship dynamics,the adaptive laws are designed to estimate the weights of RBF neural networks and the bounds of unknown time-variant disturbances,respectively,and the auxiliary dynamic system is used to deal with the input saturation.The dynamic surface control makes the designed control law be simple and easy to implement.It is proved that the designed tracking control law forces the ship to track the reference trajectory,while guaranteeing the uniform ultimate boundedness of all signals in the closed-loop trajectory tracking control system of ships.The simulation results illustrate the effectiveness of the proposed control law.
In the presence of unmeasured velocity,unknown dynamic model parameters,unknown time-variant disturbances and input saturation,this paper develops an adaptive output feedback tracking control law for surface vessels using high-gain observer,radial basis function(RBF) neural networks,auxiliary dynamic system and the dynamic surface control(DSC).The high-gain observer is constructed to provide the estimates of unmeasured velocity vector,the RBF neural networks are employed to approximate the uncertainties of ship dynamics,the adaptive laws are designed to estimate the weights of RBF neural networks and the bounds of unknown time-variant disturbances,respectively,and the auxiliary dynamic system is used to deal with the input saturation.The dynamic surface control makes the designed control law be simple and easy to implement.It is proved that the designed tracking control law forces the ship to track the reference trajectory,while guaranteeing the uniform ultimate boundedness of all signals in the closed-loop trajectory tracking control system of ships.The simulation results illustrate the effectiveness of the proposed control law.
In the presence of unmeasured velocity,unknown dynamic model parameters,unknown time-variant disturbances and input saturation,this paper develops an adaptive output feedback tracking control law for surface vessels using high-gain observer,radial basis function(RBF) neural networks,auxiliary dynamic system and the dynamic surface control(DSC).The high-gain observer is constructed to provide the estimates of unmeasured velocity vector,the RBF neural networks are employed to approximate the uncertainties of ship dynamics,the adaptive laws are designed to estimate the weights of RBF neural networks and the bounds of unknown time-variant disturbances,respectively,and the auxiliary dynamic system is used to deal with the input saturation.The dynamic surface control makes the designed control law be simple and easy to implement.It is proved that the designed tracking control law forces the ship to track the reference trajectory,while guaranteeing the uniform ultimate boundedness of all signals in the closed-loop trajectory tracking control system of ships.The simulation results illustrate the effectiveness of the proposed control law.
引文
[1]K.Y.Pettersen,Global uniform asymptotic stabilization of an underactuated surface vessel:experimental results,IEEE Trans,on Control Systems Technology,vol.12,no.6,pp.891-903,2004.
[2]T.Lauvdal and T.I.Fossen,Robust adaptive ship autopilot with wave filter and integral action,International Journal of Adaptive Control and Signal Processing,vol.12,no.8,pp.605-622,1998.
[3]H.Ashrafmon,K.R.Muske,L.C.McNinch,and R.A.Soltan,Sliding-mode tracking control of surface vessels,IEEE Transactions on Industrial Electronics,vol.55,no.11,pp.4004-4012,2008.
[4]K.P.Tee and S.S.Ge,Control of fully actuated ocean surface vessels using a class of feedforward approximators,"IEEE Trans,on Control Systems Technology,vol.14,no.4,pp.750-7560,2006.
[5]Z.Jiang,Global tracking control of underactuated ships by Lyapunov's direct method,Automatica,vol.38,no.2,pp.301-309,2002.
[6]K.Y.Pettersen and H.Nijmeijer,Tracking control of an underactuated surface vessel,in Proc.37th IEEE Conf.Decision Control,Dec.1998,pp.4561-4566.
[7]J.Du,L.Wang,and C.Jiang,"Nonlinear ship trajectory tracking control based on backstepping algorithm,"Ship Eng.,vol.32,no.1,pp.41-44,2010.
[8]H.Aschemann and A.Rauh,Nonlinear control and disturbance compensation for underactuated ships using extended linearisation techniques,in Proc.8th IFAC Conf.Control Appl.Marine Syst.,Sep.2010,pp.167-172.
[9]J.Ghommam,F.Mnif,A.Benali,and N.Derbel,Asymptotic backstepping stabilization of an underactuated surface vessel,IEEE Trans,on Control Systems Technology,vol.14,no.6,pp.1150-1157,Nov.2006.
[10]J.Ghommam,F.Mnif,and N.Derbel,Global stabilisation and tracking control of underactuated surface vessels,IET Control Theory Appl.,vol.4,no.1,pp.71-88,2010.
[11]B.Vik and T.I.Fossen,Semiglobal exponential output feedback control of ships,IEEE Trans,on Control Systems Technology,vol.5,no.3,pp.360-370,1997.
[12]K.D.Do and J.Pan,State and output feedback robust path following controllers for underactuated ships using Serret Frenet frame,Ocean Engineering,vol.31,no.5-6,pp.587-613,2004.
[13]J.R.Azinheira and A.Moutinho,Hover Control of an UAV With Backstepping Design Including Input Saturations,IEEE Trans,on Control Systems Technology,vol.16,no.3,pp.517-526,2008.
[14]Y.S.Zhong,Globally stable adaptive system design for minimum phase siso plants with input saturation,Automatica,vol.41,no.9,pp.1539-1547,2005.
[15]J.Du,X.Hu,H.B.Liu and C.L.P.Chen.Adaptive Robust Output Feedback Control for a Marine Dynamic Positioning System Based on a High-Gain Observer.IEEE Trans,on Neural Networks&Learning Systems,2015,26(11):2775-2786.
[16]J.Du,X.Hu,Miroslav Krstic,Y.Q.Sun.Robust dynamic positioning of ships with disturbances under input saturation.Automatica,73,207-214,2016.
[2]T.Lauvdal and T.I.Fossen,Robust adaptive ship autopilot with wave filter and integral action,International Journal of Adaptive Control and Signal Processing,vol.12,no.8,pp.605-622,1998.
[3]H.Ashrafmon,K.R.Muske,L.C.McNinch,and R.A.Soltan,Sliding-mode tracking control of surface vessels,IEEE Transactions on Industrial Electronics,vol.55,no.11,pp.4004-4012,2008.
[4]K.P.Tee and S.S.Ge,Control of fully actuated ocean surface vessels using a class of feedforward approximators,"IEEE Trans,on Control Systems Technology,vol.14,no.4,pp.750-7560,2006.
[5]Z.Jiang,Global tracking control of underactuated ships by Lyapunov's direct method,Automatica,vol.38,no.2,pp.301-309,2002.
[6]K.Y.Pettersen and H.Nijmeijer,Tracking control of an underactuated surface vessel,in Proc.37th IEEE Conf.Decision Control,Dec.1998,pp.4561-4566.
[7]J.Du,L.Wang,and C.Jiang,"Nonlinear ship trajectory tracking control based on backstepping algorithm,"Ship Eng.,vol.32,no.1,pp.41-44,2010.
[8]H.Aschemann and A.Rauh,Nonlinear control and disturbance compensation for underactuated ships using extended linearisation techniques,in Proc.8th IFAC Conf.Control Appl.Marine Syst.,Sep.2010,pp.167-172.
[9]J.Ghommam,F.Mnif,A.Benali,and N.Derbel,Asymptotic backstepping stabilization of an underactuated surface vessel,IEEE Trans,on Control Systems Technology,vol.14,no.6,pp.1150-1157,Nov.2006.
[10]J.Ghommam,F.Mnif,and N.Derbel,Global stabilisation and tracking control of underactuated surface vessels,IET Control Theory Appl.,vol.4,no.1,pp.71-88,2010.
[11]B.Vik and T.I.Fossen,Semiglobal exponential output feedback control of ships,IEEE Trans,on Control Systems Technology,vol.5,no.3,pp.360-370,1997.
[12]K.D.Do and J.Pan,State and output feedback robust path following controllers for underactuated ships using Serret Frenet frame,Ocean Engineering,vol.31,no.5-6,pp.587-613,2004.
[13]J.R.Azinheira and A.Moutinho,Hover Control of an UAV With Backstepping Design Including Input Saturations,IEEE Trans,on Control Systems Technology,vol.16,no.3,pp.517-526,2008.
[14]Y.S.Zhong,Globally stable adaptive system design for minimum phase siso plants with input saturation,Automatica,vol.41,no.9,pp.1539-1547,2005.
[15]J.Du,X.Hu,H.B.Liu and C.L.P.Chen.Adaptive Robust Output Feedback Control for a Marine Dynamic Positioning System Based on a High-Gain Observer.IEEE Trans,on Neural Networks&Learning Systems,2015,26(11):2775-2786.
[16]J.Du,X.Hu,Miroslav Krstic,Y.Q.Sun.Robust dynamic positioning of ships with disturbances under input saturation.Automatica,73,207-214,2016.