NDLI: Robust adaptive trajectory control for underactuated surface vessel

Content Provider	IEEE Xplore Digital Library
Author	Meng Wei Guo Chen
Copyright Year	2014
Description	Author affiliation: Sch. of Inf. Sci. & Technol., Dalian Maritime Univ., Dalian, China (Meng Wei; Guo Chen)
Abstract	A nonlinear robust adaptive control strategy is developed to force an underactuated surface vessel to globally track a reference trajectory, despite the presence of uncertain parameters and the environmental disturbances induced by wave, wind and ocean-current. The position variables cannot be defined in the body-fixed frame. Hence, the desired motion is specified in the inertial reference frame by the surge and sway velocities and accelerations. According to the underactuated nature of the vessels, the sway axis is not directly actuated. In order to achieve the desired formation, the first-order sliding surface in terms of surge motion tracking errors and the second-order sliding surface in terms of lateral motion tracking errors were introduced. The control law is based on global sliding mode control and adaptive control. The robust adaptive tracking controller was proposed to solve the uncertain time-varying disturbance induced by harsh environment. Numerical simulations are provided to demonstrate the validity of the proposed control law.
Starting Page	7982
Ending Page	7987
File Size	1459893
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896334
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Sea surface Tracking Trajectory tracking Parameters Uncertainty Underactuated surface vessel Global Sliding Mode Control Robust Adaptive Control Educational institutions Robustness Electronic mail Trajectory Adaptive control
Content Type	Text
Resource Type	Article

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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
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