Full-State Regulation Control of Asymmetric Underactuated Surface Vehicles

In this paper, a challenging problem of full-state regulation control (FSRC) for an asymmetric underactuated surface vehicle (AUSV) suffering from disturbances is solved. The FSRC objective is divided into two subtasks, i.e., reaching trajectory (RT) guidance and tracking controller synthesis with u...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2019-11, Vol.66 (11), p.8741-8750
Main Authors: Wang, Ning, Xie, Guangming, Pan, Xinxiang, Su, Shun-Feng
Format: Article
Language:English
Subjects:
Asymmetric underactuated surface vehicle (AUSV)
Circular orbits
Control
Controllers
Coordinate transformations
Disturbances
full-state regulation control (FSRC)
Kinematics
Orbits
reaching trajectory (RT) guidance
Rotation
State regulation
Subsystems
Surface vehicles
Surges
Symmetric matrices
Tracking control
Tracking errors
Trajectory
Trajectory tracking
translation-rotation cascade
Vehicle dynamics
Yaw
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Summary:In this paper, a challenging problem of full-state regulation control (FSRC) for an asymmetric underactuated surface vehicle (AUSV) suffering from disturbances is solved. The FSRC objective is divided into two subtasks, i.e., reaching trajectory (RT) guidance and tracking controller synthesis with underactuation and disturbances. The RT guidance is achieved by devising a circular orbit (CO) accurately passing through the desired full-state waypoint (FWP). Using a series of coordinate transformations, tracking error dynamics are shaped in a translation-rotation cascade form with respect to the CO-center frame. Using finite-time approach, lumped disturbances are accurately estimated by exact observers, which facilitate synthesizing surge and yaw controllers. By creating a new coordinate, translation subsystem is converted to a lower-triangular form. Combining with backstepping technique, cascade analysis and Lypunov approach, translation and rotation controllers are derived systematically, and render the entire closed-loop FSRC system globally asymptotically stable. Hence, the AUSV is regulated to the desired FWP. Simulation studies on a benchmark AUSV are conducted to demonstrate remarkable performance.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2018.2890500