Robust Trajectory Tracking Control for Fully Actuated Marine Surface Vehicle

被引：13
作者：
Del-Rio-Rivera, Francisco [1 ]
Ramirez-Rivera, Victor M. [1 ]
Donaire, Alejandro [2 ]
Ferguson, Joel [2 ]
机构：
[1] Yucatan Ctr Sci Res, Renewable Energy Unit, Merida 97302, Yucatan, Mexico
[2] Univ Newcastle Australia, Sch Engn, Callaghan, NSW 2308, Australia
来源：
IEEE ACCESS | 2020年 / 8卷
关键词：
Vehicle dynamics; Time-varying systems; Trajectory; Stability criteria; Control theory; Trajectory tracking; Damping; Input-to-state stability; integral control; marine craft; port-Hamiltonian systems; trajectory tracking; PASSIVITY-BASED CONTROL; MECHANICAL SYSTEMS; VESSELS; WIND;
D O I：
10.1109/ACCESS.2020.3042091
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we present a robust trajectory tracking control for a fully actuated marine surface vehicle. The tracking controller is obtained using a port-Hamiltonian model of the marine craft and includes an integral action to compensate for constant disturbances. The proposed approach adds damping into both the position and integrator coordinates, leading to input-to-state stability with respect to time-varying disturbances. We exemplify this controller with a simulation for an unmanned surface vehicle subjected to constant and time-varying wind disturbances. The tracking controller rejects the disturbances achieving global exponential stability for constant disturbances and input state stability for time-varying disturbances.
引用
收藏
页码：223897 / 223904
页数：8
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