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Title: Fast and accurate trajectory tracking control of an autonomous surface vehicle with unmodeled dynamics and disturbances
Authors: Wang, Ning
Lv, Shuailin
Er, Meng Joo
Chen, Wen-Hua
Keywords: Global finite-time stability
Accurate trajectory tracking
Finite-time disturbance observer (FDO)
Finite-time unknown observer (FUO)
Autonomous surface vehicle (ASV)
Issue Date: 2016
Publisher: © IEEE
Citation: WANG, N. ...et al., 2016. Fast and accurate trajectory tracking control of an autonomous surface vehicle with unmodeled dynamics and disturbances. IEEE Transactions on Intelligent Vehicles, 1(3), pp. 230-243.
Abstract: In this paper, fast and accurate trajectory tracking control of an autonomous surface vehicle (ASV) with complex unknowns including unmodeled dynamics, uncertainties and/or unknown disturbances is addressed within a proposed homogeneity-based finite-time control (HFC) framework. Major contributions are as follows: (1) In the absence of external disturbances, a nominal HFC framework is established to achieve exact trajectory tracking control of an ASV, whereby global finitetime stability is ensured by combining homogeneous analysis and Lyapunov approach; (2) Within the HFC scheme, a finite-time disturbance observer (FDO) is further nested to rapidly and accurately reject complex disturbances, and thereby contributing to an FDO-based HFC (FDO-HFC) scheme which can realize exactness of trajectory tracking and disturbance observation; (3) Aiming to exactly deal with complicated unknowns including unmodeled dynamics and/or disturbances, a finite-time unknown observer (FUO) is deployed as a patch for the nominal HFC framework, and eventually results in an FUO-based HFC (FUOHFC) scheme which guarantees that accurate trajectory tracking can be achieved for an ASV under harsh environments. Simulation studies and comprehensive comparisons conducted on a benchmark ship demonstrate the effectiveness and superiority of the proposed HFC schemes.
Description: Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Version: Accepted for publication
DOI: 10.1109/TIV.2017.2657379
URI: https://dspace.lboro.ac.uk/2134/24991
Publisher Link: http://dx.doi.org/10.1109/TIV.2017.2657379
ISSN: 2379-8858
Appears in Collections:Published Articles (Aeronautical and Automotive Engineering)

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