Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach
We propose a robust nonlinear trajectory tracking design by integrating a nonlinear model transformation, robust disturbance eliminator, and trajectory generator for unmanned surface vessels influenced by modeling uncertainties and ocean environmental disturbances. We designed this nonlinear control...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-08-01
|
| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/8/1612 |
| _version_ | 1797584181831663616 |
|---|---|
| author | Yung-Hsiang Chen Ming-Zhen Ellis-Tiew Yu-Hsiang Chan Guan-Wun Lin Yung-Yue Chen |
| author_facet | Yung-Hsiang Chen Ming-Zhen Ellis-Tiew Yu-Hsiang Chan Guan-Wun Lin Yung-Yue Chen |
| author_sort | Yung-Hsiang Chen |
| collection | DOAJ |
| description | We propose a robust nonlinear trajectory tracking design by integrating a nonlinear model transformation, robust disturbance eliminator, and trajectory generator for unmanned surface vessels influenced by modeling uncertainties and ocean environmental disturbances. We designed this nonlinear control law to help control unmanned surface vessels following any designated sail trajectory constructed by the trajectory generator. With cubic spline interpolation, this trajectory generator can generate arbitrary smooth trajectories. Simulation results show that the proposed nonlinear robust control law has precise trajectory tracking performance and a robustness property for unmanned surface vessels under harsh ocean environmental disturbances and modeling uncertainties. |
| first_indexed | 2024-03-10T23:49:26Z |
| format | Article |
| id | doaj.art-5b44e2f7963a49738eb97d77b1f1a449 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T23:49:26Z |
| publishDate | 2023-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-5b44e2f7963a49738eb97d77b1f1a4492023-11-19T01:46:35ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-08-01118161210.3390/jmse11081612Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control ApproachYung-Hsiang Chen0Ming-Zhen Ellis-Tiew1Yu-Hsiang Chan2Guan-Wun Lin3Yung-Yue Chen4Department of Mechanical Engineering, National Pingtung University of Science and Technology, Pingtung 912301, TaiwanDepartment of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan 701401, TaiwanDepartment of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan 701401, TaiwanDepartment of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan 701401, TaiwanDepartment of Systems and Naval Mechatronic Engineering, National Cheng Kung University, Tainan 701401, TaiwanWe propose a robust nonlinear trajectory tracking design by integrating a nonlinear model transformation, robust disturbance eliminator, and trajectory generator for unmanned surface vessels influenced by modeling uncertainties and ocean environmental disturbances. We designed this nonlinear control law to help control unmanned surface vessels following any designated sail trajectory constructed by the trajectory generator. With cubic spline interpolation, this trajectory generator can generate arbitrary smooth trajectories. Simulation results show that the proposed nonlinear robust control law has precise trajectory tracking performance and a robustness property for unmanned surface vessels under harsh ocean environmental disturbances and modeling uncertainties.https://www.mdpi.com/2077-1312/11/8/1612nonlinear control lawrobust disturbance eliminatorunmanned surface vesselstrajectory generatorcubic spline interpolationenergy consumption |
| spellingShingle | Yung-Hsiang Chen Ming-Zhen Ellis-Tiew Yu-Hsiang Chan Guan-Wun Lin Yung-Yue Chen Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach Journal of Marine Science and Engineering nonlinear control law robust disturbance eliminator unmanned surface vessels trajectory generator cubic spline interpolation energy consumption |
| title | Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach |
| title_full | Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach |
| title_fullStr | Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach |
| title_full_unstemmed | Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach |
| title_short | Trajectory Tracking Design for Unmanned Surface Vessels: Robust Control Approach |
| title_sort | trajectory tracking design for unmanned surface vessels robust control approach |
| topic | nonlinear control law robust disturbance eliminator unmanned surface vessels trajectory generator cubic spline interpolation energy consumption |
| url | https://www.mdpi.com/2077-1312/11/8/1612 |
| work_keys_str_mv | AT yunghsiangchen trajectorytrackingdesignforunmannedsurfacevesselsrobustcontrolapproach AT mingzhenellistiew trajectorytrackingdesignforunmannedsurfacevesselsrobustcontrolapproach AT yuhsiangchan trajectorytrackingdesignforunmannedsurfacevesselsrobustcontrolapproach AT guanwunlin trajectorytrackingdesignforunmannedsurfacevesselsrobustcontrolapproach AT yungyuechen trajectorytrackingdesignforunmannedsurfacevesselsrobustcontrolapproach |