Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation
This paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) enhanced by adaptive tracking differentiator (A...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/9/11/1305 |
| _version_ | 1827676364111609856 |
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| author | Ningning Ding Yuangui Tang Zhibin Jiang Yunfei Bai Shixun Liang |
| author_facet | Ningning Ding Yuangui Tang Zhibin Jiang Yunfei Bai Shixun Liang |
| author_sort | Ningning Ding |
| collection | DOAJ |
| description | This paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) enhanced by adaptive tracking differentiator (ATD) and reduced-order extended state observer (RESO) is proposed. The ATD is used to obtain the smooth reference signal and its derivative. The RESO is used to estimate and compensate for the model uncertainties and external disturbances in real-time, which enhances the robustness of the controller. The modified AGSTA ensures the fast convergence of the system states and maintains them in a predefined neighborhood of origin without overestimating control gains. Besides, the proposed new variable gain strategy completely avoids the control gains vibrating near the set minimum value. Thanks to the RESO, the proposed controller is model-free and can be easily implemented in practice. The stability of the closed-loop system is analyzed based on Lyapunov’s direct method in the time domain. Finally, the proposed control scheme is applied to the station-keeping control of Haidou-1 ARV, and the simulation results confirm the superiority of the proposed control scheme over the original AGSTA. |
| first_indexed | 2024-03-10T05:22:33Z |
| format | Article |
| id | doaj.art-4ffbea9feaaa46ef80eaf5d60d60a628 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T05:22:33Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-4ffbea9feaaa46ef80eaf5d60d60a6282023-11-22T23:54:47ZengMDPI AGJournal of Marine Science and Engineering2077-13122021-11-01911130510.3390/jmse9111305Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating ManipulationNingning Ding0Yuangui Tang1Zhibin Jiang2Yunfei Bai3Shixun Liang4State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaState Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, ChinaThis paper investigates the station-keeping control of autonomous and remotely-operated vehicles (ARVs) for free-floating manipulation under model uncertainties and external disturbances. A modified adaptive generalized super-twisting algorithm (AGSTA) enhanced by adaptive tracking differentiator (ATD) and reduced-order extended state observer (RESO) is proposed. The ATD is used to obtain the smooth reference signal and its derivative. The RESO is used to estimate and compensate for the model uncertainties and external disturbances in real-time, which enhances the robustness of the controller. The modified AGSTA ensures the fast convergence of the system states and maintains them in a predefined neighborhood of origin without overestimating control gains. Besides, the proposed new variable gain strategy completely avoids the control gains vibrating near the set minimum value. Thanks to the RESO, the proposed controller is model-free and can be easily implemented in practice. The stability of the closed-loop system is analyzed based on Lyapunov’s direct method in the time domain. Finally, the proposed control scheme is applied to the station-keeping control of Haidou-1 ARV, and the simulation results confirm the superiority of the proposed control scheme over the original AGSTA.https://www.mdpi.com/2077-1312/9/11/1305station-keeping controlunderwater vehicle-manipulator systemsuper-twisting algorithmextended state observer |
| spellingShingle | Ningning Ding Yuangui Tang Zhibin Jiang Yunfei Bai Shixun Liang Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation Journal of Marine Science and Engineering station-keeping control underwater vehicle-manipulator system super-twisting algorithm extended state observer |
| title | Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation |
| title_full | Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation |
| title_fullStr | Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation |
| title_full_unstemmed | Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation |
| title_short | Station-Keeping Control of Autonomous and Remotely-Operated Vehicles for Free Floating Manipulation |
| title_sort | station keeping control of autonomous and remotely operated vehicles for free floating manipulation |
| topic | station-keeping control underwater vehicle-manipulator system super-twisting algorithm extended state observer |
| url | https://www.mdpi.com/2077-1312/9/11/1305 |
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