Tracking Trajectory of Underactuated Surface Vessels: a Numerical Method Approach

被引：0
|
作者：
Serrano, Mario E. [1 ]
Scaglia, Gustavo J. E. [1 ]
Mut, Vicente [1 ]
Ortiz, Oscar A. [1 ]
Jordan, Mario [2 ]
机构：
[1] Natl Univ San Juan, San Juan, Argentina
[2] Argentine Inst Oceanog, Buenos Aires, DF, Argentina
来源：
CONTROL ENGINEERING AND APPLIED INFORMATICS | 2013年 / 15卷 / 04期
关键词：
Control System Design; Linear Algebra; Nonlinear Model; Tracking Trajectory Control; LINEAR ALGEBRA APPROACH; MOBILE ROBOTS; SHIPS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The main difficulty in the control of an underactuated system is that the system has more outputs to be controlled than the number of independent inputs. In this paper a novel trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. A simple approach is proposed to track trajectories, knowing the desired state, a value for the control action needed to force the system to go from its current state to a desired one can be obtained. Its main advantage is that the condition for the tracking error tends to zero and the calculation of control actions, are obtained solving a system of linear equations. In addition, the convergence to zero of tracking errors and simulation results are included in this article.
引用
收藏
页码：15 / 25
页数：11
相关论文
共 50 条
  • [21] Trajectory tracking of underactuated surface vessels based on neural network and hierarchical sliding mode
    Cheng Liu
    Zaojian Zou
    Jianchuan Yin
    Journal of Marine Science and Technology, 2015, 20 : 322 - 330
  • [22] Trajectory tracking of underactuated surface vessels based on neural network and hierarchical sliding mode
    Liu, Cheng
    Zou, Zaojian
    Yin, Jianchuan
    JOURNAL OF MARINE SCIENCE AND TECHNOLOGY, 2015, 20 (02) : 322 - 330
  • [23] Trajectory Tracking of Underactuated Sea Vessels With Uncertain Dynamics: An Integral Reinforcement Learning Approach
    Abouheaf, Mohammed
    Gueaieb, Wail
    Miah, Md Suruz
    Spinello, Davide
    2020 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC), 2020, : 1866 - 1871
  • [24] Adaptive tracking control of underactuated surface vessels
    Behal, A
    Dawson, DM
    Xian, B
    Setlur, P
    PROCEEDINGS OF THE 2001 IEEE INTERNATIONAL CONFERENCE ON CONTROL APPLICATIONS (CCA'01), 2001, : 645 - 650
  • [25] Global sliding mode based trajectory tracking control for underactuated surface vessels with uncertain dynamics
    Meng Wei
    Guo Chen
    Liu Yang
    Zhang Shanshan
    PROCEEDINGS OF THE 31ST CHINESE CONTROL CONFERENCE, 2012, : 4456 - 4461
  • [26] Robust trajectory tracking control for underactuated autonomous surface vessels with uncertainty dynamics and unavailable velocities
    Zhang, Chengju
    Wang, Cong
    Wei, Yingjie
    Wang, Jinqiang
    OCEAN ENGINEERING, 2020, 218
  • [27] Adaptive output-feedback control with prescribed performance for trajectory tracking of underactuated surface vessels
    Jia, Zehua
    Hu, Zhihuan
    Zhang, Weidong
    ISA TRANSACTIONS, 2019, 95 : 18 - 26
  • [28] Output redefinition dynamic inverse trajectory tracking control of underactuated surface vessels with external disturbance
    Qin, Junfeng
    Du, Jialu
    Li, Jian
    2019 3RD INTERNATIONAL SYMPOSIUM ON AUTONOMOUS SYSTEMS (ISAS 2019), 2019, : 400 - 405
  • [29] Robust trajectory tracking with adjustable performance of underactuated surface vessels via quantized state feedback
    Park, Bong Seok
    Yoo, Sung Jin
    OCEAN ENGINEERING, 2022, 246
  • [30] Straight Line Course Tracking of Underactuated Surface Vessels Using the SDRE Method
    Liu Zhilin
    Dong Yi
    Zhang Jun
    Su Li
    2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 3558 - 3562
12345