Journal
AUTOMATICA
Volume 105, Issue -, Pages 433-442Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.automatica.2019.04.018
Keywords
Actuator constraints; Dynamic surface control; Marine vehicle control
Funding
- European Regional Development Fund (FiRST Lab Project) [FESR1084]
- US National Science Foundation [1526016]
- Div Of Electrical, Commun & Cyber Sys
- Directorate For Engineering [1526016] Funding Source: National Science Foundation
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An n-degree of freedom nonlinear control law for the trajectory tracking of marine vehicles that operate in the presence of unknown time-varying disturbances, input saturation and actuator rate limits is developed using a disturbance observer and nonlinear dynamic surface control. In marine vehicle applications, n would typically be 3, 4 or 6. The disturbance observer provides estimates of the unknown time-varying disturbances and a continuously differentiable function is employed to model input saturation. The uniform ultimate boundedness of all signals in the closed-loop control system is proved. Trajectory-tracking simulations of an autonomous underwater vehicle demonstrate the performance of the proposed controller. (C) 2019 Elsevier Ltd. All rights reserved.
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