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Design and experimental validation of a nonlinear controller for underactuated surface vessels
Nonlinear Dynamics ( IF 5.6 ) Pub Date : 2020-11-06 , DOI: 10.1007/s11071-020-06058-8
Wei Xie , Joel Reis , David Cabecinhas , Carlos Silvestre

This paper addresses the problem of trajectory tracking control of an underactuated surface vessel moving in a two-dimensional space in the presence of unknown disturbances. In a preliminary stage, a couple of nonlinear observers is derived to obtain an estimate of the perturbations, which are assumed to originate from unmodeled time-varying dynamics and/or exogenous disturbances. Secondly, we resort to the Lyapunov-based backstepping technique to design two stabilizing control laws, governing the thrust force and torque actuations, that are proved to render the overall control system error globally uniformly bounded. Each control law yields an actuator signal which is implicitly bounded with respect to the position error, and the resulting estimation and tracking errors can be made arbitrarily small by tweaking the control parameters. A set of realistic simulations results is presented to validate our strategy. Experimental trials using an autonomous surface vehicle are also showcased to further demonstrate the efficacy and robustness of the proposed controller.



中文翻译:

欠驱动水面舰艇非线性控制器的设计与实验验证

本文研究了在未知干扰情况下在二维空间中移动的欠驱动水面舰船的轨迹跟踪控制问题。在初步阶段,推导了几个非线性观测器以获得扰动的估计值,假定这些扰动是由未建模的时变动力学和/或外源性扰动引起的。其次,我们诉诸基于Lyapunov的反推技术来设计两个稳定的控制律,分别控制推力和转矩致动,这被证明使整个控制系统的误差在全局范围内均匀。每个控制法则都产生一个相对于位置误差隐含有界的执行器信号,通过调整控制参数可以任意减小所产生的估计和跟踪误差。提出了一组现实的仿真结果以验证我们的策略。还展示了使用自主水面飞行器的实验性试验,以进一步证明所提出控制器的功效和鲁棒性。

更新日期:2020-11-06
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