Design and experimental validation of a nonlinear controller for underactuated surface vessels
Sign Up to like & getrecommendations! Published in 2020 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-020-06058-8
Abstract: This paper addresses the problem of trajectory tracking control of an underactuated surface vessel moving in a two-dimensional space in the presence of unknown disturbances. In a preliminary stage, a couple of nonlinear observers is… read more here.
Keywords: control; surface; underactuated surface; experimental validation ... See more keywords
Adaptive fuzzy output feedback stabilization control for the underactuated surface vessel
Sign Up to like & getrecommendations! Published in 2018 at "Applied Ocean Research"
DOI: 10.1016/j.apor.2018.01.015
Abstract: Abstract This paper designs an adaptive fuzzy stabilization controller for the underactuated surface vessel in the presence of unknown time varying environment disturbances and input saturation. By combining adaptive fuzzy system and auxiliary dynamic function,… read more here.
Keywords: underactuated surface; adaptive fuzzy; stabilization; surface vessel ... See more keywords
Robust consensus of autonomous underactuated surface vessels
Sign Up to like & getrecommendations! Published in 2017 at "Iet Control Theory and Applications"
DOI: 10.1049/iet-cta.2016.0930
Abstract: A distributed robust consensus of multiple autonomous underactuated surface vessels (AUSV) is studied in the presence of unknown environmental disturbances. The vehicles have 3 degrees of freedom and two actuators. Since the actuated and unactuated… read more here.
Keywords: autonomous underactuated; consensus; surface vessels; robust consensus ... See more keywords
Robust Component Fault Diagnostic Observer Design for Underactuated Surface Vessels Using Moving Horizon Optimization
Sign Up to like & getrecommendations! Published in 2018 at "IEEE Access"
DOI: 10.1109/access.2018.2817257
Abstract: For the consideration of improving the safety and reliability for underactuated surface vessel, the design scheme of a robust component fault detection (FD) is investigated in this paper. The main idea is to formulate the… read more here.
Keywords: underactuated surface; component fault; robust component; design ... See more keywords
Robust Neural Network Trajectory-Tracking Control of Underactuated Surface Vehicles Considering Uncertainties and Unmeasurable Velocities
Sign Up to like & getrecommendations! Published in 2021 at "IEEE Access"
DOI: 10.1109/access.2021.3107033
Abstract: This article focuses on the trajectory-tracking of an underactuated surface vehicle (USV) considering model uncertainties and nonlinear environmental disturbances. For trajectory tracking in an actual USV sailing environment, both the inertia and damping matrixes are… read more here.
Keywords: underactuated surface; tracking control; control; trajectory tracking ... See more keywords
Dynamic Event-Triggered Path-Following Control of Underactuated Surface Vehicle With the Experiment Verification
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Transactions on Vehicular Technology"
DOI: 10.1109/tvt.2022.3184305
Abstract: This paper investigated the dynamic event-triggered control scheme for the path-following activity of underactuated surface vehicle (USV) subject to actuator saturation and gain uncertainties. Specifically, a dynamic event-triggered mechanism with the adjustable threshold is developed… read more here.
Keywords: surface vehicle; event triggered; event; underactuated surface ... See more keywords
Leader–follower close formation control for underactuated surface vessel via terminal hierarchical sliding mode
Sign Up to like & getrecommendations! Published in 2020 at "International Journal of Advanced Robotic Systems"
DOI: 10.1177/1729881420921012
Abstract: This article is concerned with the close formation problem of multiple underactuated surface vessels in the presence of model uncertainties, roll motion, and environmental disturbances. To effectively address these issues, a novel control scheme considering… read more here.
Keywords: terminal hierarchical; close formation; control; formation ... See more keywords