Error-Constrained LOS Path Following of a Surface Vessel With Actuator Saturation and Faults

被引:224
作者
Zheng, Zewei [1 ]
Sun, Liang [1 ]
Xie, Lihua [2 ]
机构
[1] Beihang Univ, Sch Automat Sci & Elect Engn, Res Div 7, Beijing 100191, Peoples R China
[2] Nanyang Technol Univ, Sch Elect & Elect Engn, Singapore 639798, Singapore
来源
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS | 2018年 / 48卷 / 10期
基金
中国国家自然科学基金;
关键词
Actuator saturation; error constraint; fault tolerance; line-of-sight (LOS); path following; surface vessel; TRAJECTORY TRACKING CONTROL; NEURAL-NETWORK APPROACH; NONLINEAR-SYSTEMS; TOLERANT CONTROL; OUTPUT CONSTRAINTS; ADAPTIVE-CONTROL; VEHICLES; UNCERTAINTIES; INPUT; STABILIZATION;
D O I
10.1109/TSMC.2017.2717850
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents an error-constrained line-of-sight (ECLOS) path-following control method for a surface vessel subject to uncertainties, disturbances, and actuator saturation and faults. Based on a cascaded three degrees-of-freedom model of surface vessel, the backstepping technique is adopted as the main control framework. Error constraint of the vessel position is handled by integrating a novel tan-type barrier Lyapunov function. The proposed ECLOS method is in accordance with the classical line-of-sight method where no constraint is imposed. A nonlinear disturbance observer is developed to estimate the lumped disturbance that comprises the effects of parametric uncertainties, external environment disturbances, and actuator saturation and faults. It is proved that under the proposed control, the constrained requirements on the vessel position error are never violated and all closed-loop signals are uniformly ultimately bounded, regardless of fully actuated or under-actuated control configuration. Simulation results and comparisons illustrate the effectiveness and advantages of the proposed ECLOS path-following method.
引用
收藏
页码:1794 / 1805
页数:12
相关论文
共 58 条
[1]   Trajectory-tracking and path-following of underactuated autonomous vehicles with parametric modeling uncertainty [J].
Aguiar, A. Pedro ;
Hespanha, Joao P. .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2007, 52 (08) :1362-1379
[2]   Trajectory Tracking Control of Planar Underactuated Vehicles [J].
Ashrafiuon, Hashem ;
Nersesov, Sergey ;
Clayton, Garrett .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2017, 62 (04) :1959-1965
[3]   Integral Line-of-Sight Guidance and Control of Underactuated Marine Vehicles: Theory, Simulations, and Experiments [J].
Caharija, Walter ;
Pettersen, Kristin Y. ;
Bibuli, Marco ;
Calado, Pedro ;
Zereik, Enrica ;
Braga, Jose ;
Gravdahl, Jan Tommy ;
Sorensen, Asgeir J. ;
Milovanovic, Milan ;
Bruzzone, Gabriele .
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2016, 24 (05) :1623-1642
[4]   Adaptive Neural Control of Uncertain Nonlinear Systems Using Disturbance Observer [J].
Chen, Mou ;
Shao, Shu-Yi ;
Jiang, Bin .
IEEE TRANSACTIONS ON CYBERNETICS, 2017, 47 (10) :3110-3123
[5]   Actuator fault-tolerant control of ocean surface vessels with input saturation [J].
Chen, Mou ;
Jiang, Bing ;
Cui, Rongxin .
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, 2016, 26 (03) :542-564
[6]   Fault-tolerant control for a class of non-linear systems with dead-zone [J].
Chen, Mou ;
Jiang, Bin ;
Guo, William W. .
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2016, 47 (07) :1689-1699
[7]   Dynamic Surface Control Using Neural Networks for a Class of Uncertain Nonlinear Systems With Input Saturation [J].
Chen, Mou ;
Tao, Gang ;
Jiang, Bin .
IEEE TRANSACTIONS ON NEURAL NETWORKS AND LEARNING SYSTEMS, 2015, 26 (09) :2086-2097
[8]   Disturbance-Observer-Based Control and Related Methods-An Overview [J].
Chen, Wen-Hua ;
Yang, Jun ;
Guo, Lei ;
Li, Shihua .
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (02) :1083-1095
[9]   Control of nonlinear systems with output tracking error constraints and its application to magnetic bearings [J].
Do, K. D. .
INTERNATIONAL JOURNAL OF CONTROL, 2010, 83 (06) :1199-1216
[10]   Command Filtered Backstepping [J].
Farrell, Jay A. ;
Polycarpou, Marios ;
Sharma, Manu ;
Dong, Wenjie .
IEEE TRANSACTIONS ON AUTOMATIC CONTROL, 2009, 54 (06) :1391-1395