Yaw-Guided Trajectory Tracking Control of an Asymmetric Underactuated Surface Vehicle

In this paper, suffering from both complex uncertainties and underactuations, accurate trajectory tracking control problem of an asymmetric underactuated surface vehicle (AUSV) is first addressed by guiding yaw dynamics which are free of persistent excitation (PE) . Using nested coordinate transform...

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Bibliographic Details
Published in:IEEE transactions on industrial informatics 2019-06, Vol.15 (6), p.3502-3513
Main Authors: Wang, Ning, Su, Shun-Feng, Pan, Xinxiang, Yu, Xiang, Xie, Guangming
Format: Article
Language:English
Subjects:
Accurate trajectory tracking control
asymmetric underactuated surface vehicle (AUSV)
Asymptotic properties
Controllers
Coordinate transformations
Damping
finite-time uncertainty observer (FUO)
Informatics
Observers
Rotation
Stability analysis
Subsystems
Surface vehicles
Surges
Tracking control
Tracking errors
Tracking systems
Trajectory
Trajectory control
Trajectory tracking
Uncertainty
Yaw
yaw guidance
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Summary:In this paper, suffering from both complex uncertainties and underactuations, accurate trajectory tracking control problem of an asymmetric underactuated surface vehicle (AUSV) is first addressed by guiding yaw dynamics which are free of persistent excitation (PE) . Using nested coordinate transformations, the AUSV is formulated in a cascade structure consisting of translation and rotation subsystems with complex uncertainties. Finite-time uncertainty observers (FUOs) are devised to exactly estimate transformed uncertainties, and enable separation principle in controller and observer syntheses. By virtue of creating yaw-guided dynamics, rotation tracking is shaped to stabilize yaw and sway tracking discrepancies, simultaneously, in collaboration with yaw controller. Nominal dynamics of translation tracking errors are globally asymptotically stabilized by surge-control synthesis using cascade analysis and Lyapunov approach, and thereby contributing to global asymptotic stability of the entire translation-rotation tracking system. Eventually, an FUO-based yaw-guided tracking control (FUO-YTC) scheme of an AUSV with complex uncertainties is established. Simulation studies demonstrate remarkable performance.
ISSN:1551-3203
1941-0050
DOI:10.1109/TII.2018.2877046