Modification of Nonlinear Controller for Asymmetric Marine Vehicles Moving in Horizontal Plane
Source abstract
Abstract
This paper considers a trajectory-tracking control algorithm for underactuated marine vehicles moving horizontally in which the current in the North-East-Down frame is constant. This algorithm is a modification of a control scheme based on the input-output feedback linearization method for which the application condition is that the vehicle is symmetric with respect to the left and right sides. The proposed control scheme can be applied to a fully asymmetric model, and, therefore, the geometric center can be different from the center of mass in both the longitudinal and lateral directions. A velocity transformation to generalized vehicle equations of motion was used to develop a suitable controller. Theoretical considerations were supported by simulation tests performed for a model with 3 degrees of freedom, in which the performance of the proposed algorithm was compared with that of the original algorithm and the selected control scheme based on a combination of backstepping and integral sliding mode control approaches.
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Research context
OpenAlex topics: Control and Dynamics of Mobile Robots · Adaptive Control of Nonlinear Systems · Dynamics and Control of Mechanical Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Institute of Automatic Control and Robotics, Poznan University of Technology, ul. Piotrowo 3a, 60-965 Poznan, Poland
Funding
Poznan University of Technology
References (56)
Show source-provided references
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