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Nonlinear output feedback synchronization control of master-slave vessel with observer backstepping
In this paper, a nonlinear output feedback control law with observer backstepping is designed to control the slave vessels to synchronize with the master vessel, no matter how the master vessel behaves. Firstly, the kinetics and kinematics equations of vessels with three degree of freedom movement a...
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creator | Ding Fu Guang Ma Yan Qin Wang Yuan Hui |
description | In this paper, a nonlinear output feedback control law with observer backstepping is designed to control the slave vessels to synchronize with the master vessel, no matter how the master vessel behaves. Firstly, the kinetics and kinematics equations of vessels with three degree of freedom movement are presented. Secondly, a master-slave synchronization control scheme is proposed, which includes an output feedback synchronization controller and a nonlinear observer. The nonlinear observer is used to estimate velocity and accelerate of the slave vessels when only position and yaw angle measurements are obtained. The synchronization position and velocity errors of the master and the slave vessels are quickly converged to zero in application of the derived controller with a nonlinear observer. At the same time, a damping item is introduced in the control process to assure globally exponentially stabile (GES) of the whole system. Then, the designed control law is proved to be GES by the Lyapunov stability theory. At last, simulation results and conclusions are obtained by means of simulating the master vessel tracking a circle trajectory, which indicates that the nonlinear output feedback synchronization control of master-slave with observer backstepping can resolve the synchronization movement problem. |
doi_str_mv | 10.1109/ChiCC.2014.6896316 |
format | conference_proceeding |
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Firstly, the kinetics and kinematics equations of vessels with three degree of freedom movement are presented. Secondly, a master-slave synchronization control scheme is proposed, which includes an output feedback synchronization controller and a nonlinear observer. The nonlinear observer is used to estimate velocity and accelerate of the slave vessels when only position and yaw angle measurements are obtained. The synchronization position and velocity errors of the master and the slave vessels are quickly converged to zero in application of the derived controller with a nonlinear observer. At the same time, a damping item is introduced in the control process to assure globally exponentially stabile (GES) of the whole system. Then, the designed control law is proved to be GES by the Lyapunov stability theory. At last, simulation results and conclusions are obtained by means of simulating the master vessel tracking a circle trajectory, which indicates that the nonlinear output feedback synchronization control of master-slave with observer backstepping can resolve the synchronization movement problem.</description><identifier>EISSN: 2161-2927</identifier><identifier>EISBN: 9789881563873</identifier><identifier>EISBN: 9881563879</identifier><identifier>DOI: 10.1109/ChiCC.2014.6896316</identifier><language>eng</language><publisher>TCCT, CAA</publisher><subject>Backstepping ; Equations ; Lyapunov methods ; Lyapunov stability ; Master-slave ; master-slave synchronization control ; observer backstepping ; Observers ; Output feedback ; Synchronization</subject><ispartof>Proceedings of the 33rd Chinese Control Conference, 2014, p.7880-7887</ispartof><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><linktohtml>$$Uhttps://ieeexplore.ieee.org/document/6896316$$EHTML$$P50$$Gieee$$H</linktohtml><link.rule.ids>309,310,777,781,786,787,27906,54536,54913</link.rule.ids><linktorsrc>$$Uhttps://ieeexplore.ieee.org/document/6896316$$EView_record_in_IEEE$$FView_record_in_$$GIEEE</linktorsrc></links><search><creatorcontrib>Ding Fu Guang</creatorcontrib><creatorcontrib>Ma Yan Qin</creatorcontrib><creatorcontrib>Wang Yuan Hui</creatorcontrib><title>Nonlinear output feedback synchronization control of master-slave vessel with observer backstepping</title><title>Proceedings of the 33rd Chinese Control Conference</title><addtitle>ChiCC</addtitle><description>In this paper, a nonlinear output feedback control law with observer backstepping is designed to control the slave vessels to synchronize with the master vessel, no matter how the master vessel behaves. Firstly, the kinetics and kinematics equations of vessels with three degree of freedom movement are presented. Secondly, a master-slave synchronization control scheme is proposed, which includes an output feedback synchronization controller and a nonlinear observer. The nonlinear observer is used to estimate velocity and accelerate of the slave vessels when only position and yaw angle measurements are obtained. The synchronization position and velocity errors of the master and the slave vessels are quickly converged to zero in application of the derived controller with a nonlinear observer. At the same time, a damping item is introduced in the control process to assure globally exponentially stabile (GES) of the whole system. Then, the designed control law is proved to be GES by the Lyapunov stability theory. At last, simulation results and conclusions are obtained by means of simulating the master vessel tracking a circle trajectory, which indicates that the nonlinear output feedback synchronization control of master-slave with observer backstepping can resolve the synchronization movement problem.</description><subject>Backstepping</subject><subject>Equations</subject><subject>Lyapunov methods</subject><subject>Lyapunov stability</subject><subject>Master-slave</subject><subject>master-slave synchronization control</subject><subject>observer backstepping</subject><subject>Observers</subject><subject>Output feedback</subject><subject>Synchronization</subject><issn>2161-2927</issn><isbn>9789881563873</isbn><isbn>9881563879</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>2014</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><recordid>eNotkMtOwzAURA0SEqX0B2DjH0jxjRM_ligCilTBBtaVk1xTQ2pHthtUvp4iuprNmaPREHIDbAnA9F2zdU2zLBlUS6G04CDOyEJLpZWCWnAl-TmZlSCgKHUpL8lVSp-MCaaBz0j3EvzgPJpIwz6P-0wtYt-a7oumg--2MXj3Y7ILnnbB5xgGGizdmZQxFmkwE9IJU8KBfru8paFNGCeM9M9wZMbR-Y9rcmHNkHBxyjl5f3x4a1bF-vXpublfFw5knQuJkteskkLVwqCstGxthwBSHacCl7bUldG8Lns0vTWd0Aiy1xZafSxJzefk9t_rEHEzRrcz8bA5fcJ_AUSqWB4</recordid><startdate>201407</startdate><enddate>201407</enddate><creator>Ding Fu Guang</creator><creator>Ma Yan Qin</creator><creator>Wang Yuan Hui</creator><general>TCCT, CAA</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>201407</creationdate><title>Nonlinear output feedback synchronization control of master-slave vessel with observer backstepping</title><author>Ding Fu Guang ; Ma Yan Qin ; Wang Yuan Hui</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i175t-7e7350476856ae7497bfce1178091137f294a9352deadfac69e17d9f1b9476793</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>2014</creationdate><topic>Backstepping</topic><topic>Equations</topic><topic>Lyapunov methods</topic><topic>Lyapunov stability</topic><topic>Master-slave</topic><topic>master-slave synchronization control</topic><topic>observer backstepping</topic><topic>Observers</topic><topic>Output feedback</topic><topic>Synchronization</topic><toplevel>online_resources</toplevel><creatorcontrib>Ding Fu Guang</creatorcontrib><creatorcontrib>Ma Yan Qin</creatorcontrib><creatorcontrib>Wang Yuan Hui</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Ding Fu Guang</au><au>Ma Yan Qin</au><au>Wang Yuan Hui</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Nonlinear output feedback synchronization control of master-slave vessel with observer backstepping</atitle><btitle>Proceedings of the 33rd Chinese Control Conference</btitle><stitle>ChiCC</stitle><date>2014-07</date><risdate>2014</risdate><spage>7880</spage><epage>7887</epage><pages>7880-7887</pages><eissn>2161-2927</eissn><eisbn>9789881563873</eisbn><eisbn>9881563879</eisbn><abstract>In this paper, a nonlinear output feedback control law with observer backstepping is designed to control the slave vessels to synchronize with the master vessel, no matter how the master vessel behaves. Firstly, the kinetics and kinematics equations of vessels with three degree of freedom movement are presented. Secondly, a master-slave synchronization control scheme is proposed, which includes an output feedback synchronization controller and a nonlinear observer. The nonlinear observer is used to estimate velocity and accelerate of the slave vessels when only position and yaw angle measurements are obtained. The synchronization position and velocity errors of the master and the slave vessels are quickly converged to zero in application of the derived controller with a nonlinear observer. At the same time, a damping item is introduced in the control process to assure globally exponentially stabile (GES) of the whole system. Then, the designed control law is proved to be GES by the Lyapunov stability theory. At last, simulation results and conclusions are obtained by means of simulating the master vessel tracking a circle trajectory, which indicates that the nonlinear output feedback synchronization control of master-slave with observer backstepping can resolve the synchronization movement problem.</abstract><pub>TCCT, CAA</pub><doi>10.1109/ChiCC.2014.6896316</doi><tpages>8</tpages></addata></record> |
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source | IEEE Xplore All Conference Series |
subjects | Backstepping Equations Lyapunov methods Lyapunov stability Master-slave master-slave synchronization control observer backstepping Observers Output feedback Synchronization |
title | Nonlinear output feedback synchronization control of master-slave vessel with observer backstepping |
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