Output Feedback Tracking Control for Vessel with Collision-Avoidance and Performance Constraints
Source abstract
Abstract
This manuscript investigates an output feedback-tracking control problem of a dynamically positioned vessel with an input constraint. The vessel is exposed to model uncertainty and external disturbances. Compared with the existing results, the primary contribution is to develop a switch-control strategy for achieving collision avoidance and performance constraints by using an extended state observer (ESO), a collision-avoidance controller (CAC), a prescribed performance controller, and an auxiliary dynamic system (ADS). The switch control strategy combined two different controllers, and an extended state observer (ESO) is designed. The ESO is employed to recover velocity information as well as unknown model uncertainty and external disturbances. A collision-risk-analysis module is introduced to evaluate whether there exists a risk of collision avoidance. Based on the analysis, the CASC can choose between a CAC and a PPC. An ADS is constructed to handle the input constraints. The CAC is employed by using an artificial potential function, the ADS, and the ESO. The PPC is designed based on an error constraint function, the ADS, and the ESO. The stability of the closed-loop control system is analyzed based on the Lyapunov direct method. Simulations prove the effectiveness of the presented control strategy.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Adaptive Control of Nonlinear Systems · Maritime Navigation and Safety · Stability and Control of Uncertain Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150006, China
China Classification Society, Beijing 100007, China
Funding
State Key Laboratory of Ocean Engineering (Shanghai Jiao Tong University)
References (36)
Show source-provided references
1. A survey of dynamic positioning control systems10.1016/j.arcontrol.2011.03.008 ↗
2. Observer-based adaptive robust stabilization of dynamic positioning ship with delay via Hamiltonian method10.1016/j.oceaneng.2020.108439 ↗
3. Sliding mode control unified with the uncertainty and disturbance estimator for dynamically positioned vessels subjected to uncertainties and unknown disturbances10.1016/j.apor.2021.102564 ↗
4. Robust fuzzy adaptive output feedback optimal tracking control for dynamic positioning of marine vessels with unknown disturbances and uncertain dynamics10.1007/s40815-021-01101-1 ↗
5. Fossen, T.I. (1994). Guidance and Control of Ocean Vehicles, John Wiley & Sons, Inc.
6. Effects of mooring line hydrodynamic coefficients and wave parameters on the floating production storage and offloading motions10.5004/dwt.2021.27796 ↗
7. A novel numerical method for the hydrodynamic analysis of floating bodies over a sloping bottom10.1007/s00773-020-00795-6 ↗
8. Xia, X., Yang, Z., and Yang, T. (2023). Leader–Follower Formation Tracking Control of Underactuated Surface Vehicles Based on Event-Trigged Control. Appl. Sci., 13.10.20944/preprints202305.1808.v1 ↗
9. Finite-time control for USV path tracking under input saturation with random disturbances10.1016/j.apor.2023.103628 ↗
10. Tracking control of uncertain surface vessels with global finite-time convergence
11. Optimal Jamming Strategy Against Two-state Switched System
12. Nonlinear vector model control of underactuated air cushion vehicle based on parameter reduction algorithm10.1177/0142331220974136 ↗
13. Polynomial regressors based data-driven control for autonomous underwater vehicles10.1007/s12083-020-00878-6 ↗
14. Global robust and adaptive output feedback dynamic positioning of surface ships10.1007/s11804-011-1076-z ↗
15. Passive nonlinear observer design for ships using Lyapunov methods: Full-scale experiments with a supply vessel10.1016/S0005-1098(98)00121-6 ↗
16. Xia, X., Xia, C., and Sun, C. (2023). Distributed formation tracking control of underactuated surface vehicles based on event-trigged control. Trans. Inst. Meas. Control.10.20944/preprints202305.1808.v1 ↗
17. Robust tracking control for dynamic positioning ships subject to dynamic safety constraints10.1016/j.oceaneng.2022.112710 ↗
18. Robust adaptive prescribed performance control for dynamic positioning of ships under unknown disturbances and input constraints10.1016/j.oceaneng.2020.107254 ↗
19. Global Robust Adaptive Trajectory Tracking Control for Surface Ships Under Input Saturation10.1109/JOE.2018.2877895 ↗
20. Finite-time trajectory tracking control of unmanned surface vessel with error constraints and input saturations10.1016/j.jfranklin.2019.07.019 ↗
21. Robust dynamic positioning of ships with disturbances under input saturation10.1016/j.automatica.2016.06.020 ↗
22. Adaptive trajectory tracking algorithm of unmanned dinamicaly positioned vessel based on 269 anti-windup compensator with full-state constraints10.1016/j.oceaneng.2019.106906 ↗
23. Simple Dynamic Positioning Control Design for Surface Vessels with Input Saturation and External Disturbances
24. Robust adaptive control of feedback linearizable MIMO nonlinear systems with prescribed performance10.1109/TAC.2008.929402 ↗
25. Disturbance observer based adaptive neural prescribed performance control for a class of uncertain nonlinear systems with unknown backlash-like hysteresis10.1016/j.neucom.2018.02.088 ↗
26. Finite-Time Control of dinamicaly positioned vessel Based on Disturbance Observer10.1155/2022/9262457 ↗
27. Cooperative path planning algorithm for marine dinamicaly positioned vessels10.1016/j.oceaneng.2012.09.003 ↗
28. Output-Feedback Cooperative Formation Maneuvering of Autonomous dynamic positioning 273 Vehicles With Connectivity Preservation and Collision Avoidance10.1109/TCYB.2019.2914717 ↗
29. An error transformation approach for connectivity-preserving and collision-avoiding formation tracking of networked uncertain underactuated surface vessels10.1109/TCYB.2018.2834919 ↗
30. Distributed dynamic obstacle avoidance design to connectivity-preserving formation control of uncertain underactuated surface vehicles under a directed network10.1016/j.oceaneng.2023.113872 ↗
31. Zhang, B.W., and Xia, G.Q. (2023). Output Feedback Tracking Control with Collision Avoidance for Dynamic Positioning Vessel under Input Constraint. J. Mar. Sci. Eng., 11.10.3390/jmse11040811 ↗
32. A real-time multi-ship collision avoidance decision-making system for autonomous ships considering ship motion uncertainty
33. Ahmed, Y.A., Hannan, M.A., Oraby, M.Y., and Maimun, A. (2021). COLREGs compliant Fuzzy-Based collision avoidance system for multiple ship encounters. J. Mar. Sci. Eng., 9.10.20944/preprints202106.0520.v1 ↗
34. COLREG-RRT: An RRT-based COLREGS-compliant motion planner for surface vehicle navigation10.1109/LRA.2018.2801881 ↗
35. Quantitative analysis of COLREG rules and seamanship for autonomous collision avoidance at open sea10.1016/j.oceaneng.2017.05.029 ↗
36. Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory10.1016/j.automatica.2004.10.006 ↗