Journal
ISA TRANSACTIONS
Volume 83, Issue -, Pages 100-106Publisher
ELSEVIER SCIENCE INC
DOI: 10.1016/j.isatra.2018.09.007
Keywords
Tracking control; Underactuated ship; Dynamic inversion; Dynamic extension; Output redefinition
Categories
Funding
- National Natural Science Foundation of China [61673294]
- Ministry of Education Equipment Development Fund [6141A02022328]
- China Scholarship Council [201606250160]
Ask authors/readers for more resources
The tracking control problem of an underactuated ship is investigated. We intend to use the underactuated ship as an example to extend the traditional dynamic inversion control method to underactuated systems. The difficulty lies in the fact that the system has no relative degree, which prevents the application of standard dynamic inversion. Three modified dynamic inversion methods are proposed that are applicable to this system. The first is the well-known dynamic extension-based dynamic inversion (DEDI), which treats an input as a state and takes dynamic extension to achieve a relative degree. The second is virtual input-based dynamic inversion (VIDI), which treats a state as a virtual input to achieve a relative degree. The third is output redefinition-based dynamic inversion (ORDI), which selects a particular variable as a new output to achieve a relative degree. The three methods are generalizations of dynamic inversion control and remove some of its inherent limitations, making it applicable to a wide variety of underactuated systems. The effectiveness of the proposed methods is verified by numerical simulations. (C) 2018 ISA. Published by Elsevier Ltd. All rights reserved.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available