NDLI: Tracking Control of Unmanned Surface Vehicles With Abkowitz Steering Model

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Nataraj, C. Thimmaraya, Ramesh
Copyright Year	2010
Abstract	This paper is concerned with the tracking control of unmanned surface vehicles. Steering dynamics is modeled using nonlinear equations with three degrees of freedom following Abkowitz. Tracking control of this nonlinear system leads to the need to derive a control algorithm for linear error equations which have time-varying coefficients. Next, a control algorithm has been derived for this set of linear time-varying equations. Lyapunov transformations have been applied to transform the error equation into a canonical form. A desired closed-loop PD-spectrum and the desired right PD-modal matrix have been chosen and the resulting Sylvester equation has been solved to obtain a matrix of time-varying controller gains. This leads to the closed loop equations for controlling the ship steering of an unmanned ship. The controller algorithm is applied to the motion control of ships with parametric values from published reports. Several tracking trajectories have been generated with and without obstacles, and time-varying control has been investigated and presented. The control algorithm is shown to be quite effective for tracking of unmanned surface vehicles. Stability conditions are derived to ensure convergence. Present work in experimental verification is outlined.
Sponsorship	Dynamic Systems and Control Division
Starting Page	955
Ending Page	962
Page Count	8
File Format	PDF
ISBN	9780791844175
DOI	10.1115/DSCC2010-4293
e-ISBN	9780791838846
Volume Number	ASME 2010 Dynamic Systems and Control Conference, Volume 1
Conference Proceedings	ASME 2010 Dynamic Systems and Control Conference
Language	English
Publisher Date	2010-09-12
Publisher Place	Cambridge, Massachusetts, USA
Access Restriction	Subscribed
Subject Keyword	Degrees of freedom Nonlinear equations Stability Control equipment Vehicles Errors Algorithms Ships Dynamics (mechanics) Control algorithms Tracking control Motion control Nonlinear systems
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Robust Neural-Network Hybrid Tracking Control of Underwater Vehicles

Model Reference Adaptive Tracking Control of Nonminimum Phase Marine Vehicles

Discrete and Analytic Model Predictive Control for Path Following of Underactuated Ships

Autonomous Underwater Vehicle Control in Presence of Waves

Design of an Integrated AFS/ACD Control System to Enhance 4WD Vehicles Dynamics and Stability

Trajectory Tracking of Underactuated Multibody Systems

A Moving Frame Method for Multi-Body Dynamics

Trajectory Tracking of Underactuated Surface Vessels Based on Hierarchical Sliding Mode

Control Algorithms of the Longitude Motion of the Powered Paraglider

Tracking Control of Unmanned Surface Vehicles With Abkowitz Steering Model

Similar Documents

Robust Neural-Network Hybrid Tracking Control of Underwater Vehicles

Model Reference Adaptive Tracking Control of Nonminimum Phase Marine Vehicles

Discrete and Analytic Model Predictive Control for Path Following of Underactuated Ships

Autonomous Underwater Vehicle Control in Presence of Waves

Design of an Integrated AFS/ACD Control System to Enhance 4WD Vehicles Dynamics and Stability

Trajectory Tracking of Underactuated Multibody Systems

A Moving Frame Method for Multi-Body Dynamics

Trajectory Tracking of Underactuated Surface Vessels Based on Hierarchical Sliding Mode

Control Algorithms of the Longitude Motion of the Powered Paraglider

Tracking Control of Unmanned Surface Vehicles With Abkowitz Steering Model