Path-tracking control of underactuated ships under tracking error constraints

This paper presents a constructive design of new controllers that force underactuated ships under constant or slow time-varying sea loads to asymptotically track a parameterized reference path, that guarantees the distance from the ship to the reference path always be within a specified value. The control design is based on a global exponential disturbance observer, a transformation of the ship dynamics to an almost spherical form, an interpretation of the tracking errors in an earth-fixed frame, an introduction of dynamic variables to compensate for relaxation of the reference path generation, p-times differentiable step functions, and backstepping and Lyapunov’s direct methods. The effectiveness of the proposed results is illustrated through simulations.

[1]  R. W. Brockett,et al.  Asymptotic stability and feedback stabilization , 1982 .

[2]  B. Jouvencel,et al.  Robust Nonlinear Path-Following Control of an AUV , 2008, IEEE Journal of Oceanic Engineering.

[3]  Zhong-Ping Jiang,et al.  Global tracking control of underactuated ships by Lyapunov's direct method , 2002, Autom..

[4]  Thor I. Fossen,et al.  Non-linear and adaptive backstepping designs for tracking control of ships , 1998 .

[5]  Yong-Kon Lim,et al.  Point-to-point navigation of underactuated ships , 2008, Autom..

[6]  Zhong-Ping Jiang,et al.  Universal controllers for stabilization and tracking of underactuated ships , 2002, Syst. Control. Lett..

[7]  Zhong-Ping Jiang,et al.  A recursive technique for tracking control of nonholonomic systems in chained form , 1999, IEEE Trans. Autom. Control..

[8]  K. D. Do,et al.  Control of nonlinear systems with output tracking error constraints and its application to magnetic bearings , 2010, Int. J. Control.

[9]  Zhong-Ping Jiang,et al.  On global tracking control of a VTOL aircraft without velocity measurements , 2003, IEEE Trans. Autom. Control..

[10]  Roger Skjetne,et al.  Nonlinear maneuvering and control of ships , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[11]  H. Nijmeijer,et al.  Underactuated ship tracking control: Theory and experiments , 2001 .

[12]  Kristin Ytterstad Pettersen,et al.  Global uniform asymptotic stabilization of an underactuated surface vessel , 2002, IEEE Trans. Autom. Control..

[13]  Thor I. Fossen Models for Ships, Offshore Structures and Underwater Vehicles , 2011 .

[14]  Zhen Li,et al.  Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels , 2009, Autom..

[15]  Zhong-Ping Jiang,et al.  New cascade approach for global /spl kappa/-exponential tracking of underactuated ships , 2004, IEEE Transactions on Automatic Control.

[16]  Kristin Ytterstad Pettersen,et al.  Tracking control of an underactuated ship , 2003, IEEE Trans. Control. Syst. Technol..

[17]  Mahmut Reyhanoglu,et al.  Exponential stabilization of an underactuated autonomous surface vessel , 1997, Autom..

[18]  Khac Duc Do,et al.  State- and output-feedback robust path-following controllers for underactuated ships using Serret–Frenet frame , 2004 .

[19]  Khac Duc Do,et al.  Underactuated ship global tracking under relaxed conditions , 2002, IEEE Trans. Autom. Control..

[20]  Nabil Derbel,et al.  Nonsingular Serret–Frenet Based Path Following Control for an Underactuated Surface Vessel , 2007 .

[21]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[22]  Zhong-Ping Jiang,et al.  Robust adaptive path following of underactuated ships , 2004, Autom..

[23]  Khac Duc Do,et al.  Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs) , 2015, Journal of Marine Science and Application.

[24]  Miroslav Krstic,et al.  Nonlinear and adaptive control de-sign , 1995 .

[25]  Kristin Y. Pettersen,et al.  Way-point tracking control of ships , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[26]  Khac Duc Do,et al.  Underactuated ships follow smooth paths with Integral actions and without velocity measurements for feedback: theory and experiments , 2006, IEEE Transactions on Control Systems Technology.

[27]  Dongkyoung Chwa,et al.  Global Tracking Control of Underactuated Ships With Input and Velocity Constraints Using Dynamic Surface Control Method , 2011, IEEE Transactions on Control Systems Technology.

[28]  Pedro Encarnação,et al.  Path Following for Autonomous Marine Craft , 2000 .

[29]  K. D. Do,et al.  Global tracking control of underactuated ships with nonzero off-diagonal terms in their system matrices , 2005, Autom..

[30]  Antonio M. Pascoal,et al.  Regulation of a nonholonomic autonomous underwater vehicle with parametric modeling uncertainty using Lyapunov functions , 2001, Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228).

[31]  Thor I. Fossen,et al.  Path following control system for a tanker ship model , 2007 .

[32]  Thor I. Fossen,et al.  Handbook of Marine Craft Hydrodynamics and Motion Control: Fossen/Handbook of Marine Craft Hydrodynamics and Motion Control , 2011 .

[33]  Khac Duc Do,et al.  Practical control of underactuated ships , 2010 .

[34]  Kristin Ytterstad Pettersen,et al.  Global kappa-exponential way-point maneuvering of ships: Theory and experiments , 2006, Autom..

[35]  Kristin Y. Pettersen,et al.  Exponential stabilization of an underactuated surface vessel , 1996, Proceedings of 35th IEEE Conference on Decision and Control.