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Citation:
　Wei Meng,Chen Guo and Yang Liu.Robust Adaptive Path Following for Underactuated Surface Vessels with Uncertain Dynamics[J].Journal of Marine Science and Application,2012,(2):244-250.[doi:10.1007/s11804-012-1129-y]
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Robust Adaptive Path Following for Underactuated Surface Vessels with Uncertain Dynamics

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Title:
Robust Adaptive Path Following for Underactuated Surface Vessels with Uncertain Dynamics
Author(s):
Wei Meng;  Chen Guo1 and Yang Liu
Affilations:
Author(s):
Wei Meng;  Chen Guo1 and Yang Liu
1. School of Information Science and Technology, Dalian Maritime University, Dalian 116026, China 2. School of Electronic and Information Engineering, Dalian Jiaotong University, Dalian 116028, China
Keywords:
underactuated surface vessels;  path following;  uncertain parameters;  robustness;  adaptive control
分类号:
-
DOI:
10.1007/s11804-012-1129-y
Abstract:
A robust adaptive control strategy was developed to force an underactuated surface vessel to follow a reference path, despite the presence of uncertain parameters and unstructured uncertainties including exogenous disturbances and measurement noise. The reference path can be a curve or a straight line. The proposed controller was designed by using Lyapunov’s direct method and sliding mode control and backstepping techniques. Because the sway axis of the vessel was not directly actuated, two sliding surfaces were introduced, the first one in terms of the surge motion tracking errors and the second one for the yaw motion tracking errors. The adaptive control law guaranteed the uniform ultimate boundedness of the tracking errors. Numerical simulation results were provided to validate the effectiveness of the proposed controller for path following of underactuated surface vessels.

References:

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Memo

Memo:
Supported by the National Natural Science Foundation of China (Grant No. 61074053) and the Applied Basic Research Program of Ministry of Transport of China (Grant No. 2011-329-225-390).
Last Update: 2012-06-07