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    Wyświetlanie 1-3 z 3
    Tytuł:
    Robust trajectory tracking control of underactuated surface vehicles with prescribed performance
    Autorzy:
    Wang, Shasha
    Tuo, Yulong
    Powiązania:
    https://bibliotekanauki.pl/articles/1573775.pdf
    Data publikacji:
    2020
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    robust sliding mode control
    prescribed performance
    guaranteed transient performance
    trajectory tracking
    underactuated surface vehicle
    Opis:
    In this paper, a robust sliding mode tracking controller with prescribed performance is developed for an underactuated surface vehicle (USV) with time-varying external disturbances. Firstly, to guarantee the transient and steadystate performance of the closed-loop system, the error transformation technique is presented. Further, the design of the prescribed performance function implements predefined tracking performance constraints, which eliminate the requirement for prior knowledge about the initial errors. Then, a Lyapunov stability synthesis shows that all closed-loop signals remain bounded and the tracking errors remain strictly within the predefined bounds. Finally, simulations and a comparative study are performed to illustrate the robustness and effectiveness of the proposed robust sliding mode control scheme.
    Źródło:
    Polish Maritime Research; 2020, 4; 148-156
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Event-triggered adaptive neural network trajectory tracking control for underactuated ships under uncertain disturbance
    Autorzy:
    Su, Wenxue
    Zhang, Qiang
    Liu, Yufeng
    Powiązania:
    https://bibliotekanauki.pl/articles/34611659.pdf
    Data publikacji:
    2023
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    event-triggered control
    underactuated marine surface vessels
    adaptive neural network
    trajectory tracking
    finite-time
    Opis:
    An adaptive neural network (NN) event-triggered trajectory tracking control scheme based on finite time convergence is proposed to address the problem of trajectory tracking control of underdriven surface ships. In this scheme, both NNs and minimum learning parameters (MLPS) are applied. The internal and external uncertainties are approximated by NNs. To reduce the computational complexity, MLPs are used in the proposed controller. An event-triggered technique is then incorporated into the control design to synthesise an adaptive NN-based event-triggered controller with finite-time convergence. Lyapunov theory is applied to prove that all signals are bounded in the tracking system of underactuated vessels, and to show that Zeno behavior can be avoided. The validity of this control scheme is determined based on simulation results, and comparisons with some alternative schemes are presented.
    Źródło:
    Polish Maritime Research; 2023, 3; 119-131
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
    Tytuł:
    Ship trajectory tracking control system design based on sliding mode control algorithm
    Autorzy:
    Liu, Y.
    Bu, R.
    Gao, X.
    Powiązania:
    https://bibliotekanauki.pl/articles/259621.pdf
    Data publikacji:
    2018
    Wydawca:
    Politechnika Gdańska. Wydział Inżynierii Mechanicznej i Okrętownictwa
    Tematy:
    LOS
    ship trajectory
    tracking control system
    sliding mode control
    Opis:
    The paper reports the design and tests of the planar autopilot navigation system in the three-degree-of-freedom (3-DOF) plane (surge, sway and yaw) for a ship. The aim of the tests was to check the improved maneuverability of the ship in open waters using the improved nonlinear control algorithm, developed based on the sliding mode control theory for the ship-trajectory tracking problem of under-actuated ships with static constraints, actuator saturation, and parametric uncertainties. With the integration of the simple increment feedback control law, the dynamic control strategy was developed to fulfill the under-actuated tracking and stabilization objectives. In addition, the LOS (line of sight) guidance system was applied to control the motion path, whereas the sliding mode controller was used to emulate the rudder angle and propeller rotational speed control. Firstly, simulation tests were performed to verify the validity of the basic model and the tracking control algorithm. Subsequently, full scale maneuverability tests were done with a novel container ship, equipped with trajectory tracking control and sliding mode controller algorithm, to check the dynamic stability performance of the ship. The results of the theoretical and numerical simulation on a training ship verify the invariability and excellent robustness of the proposed controller, which: effectively eliminates system chattering, solves the problem of lateral drift of the ship, and maintains the following of the trajectory while simultaneously achieving global stability and robustness.
    Źródło:
    Polish Maritime Research; 2018, 3; 26-34
    1233-2585
    Pojawia się w:
    Polish Maritime Research
    Dostawca treści:
    Biblioteka Nauki
    Artykuł
      Wyświetlanie 1-3 z 3

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