Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 66, Issue 11, Pages 8741-8750Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2018.2890500
Keywords
Asymmetric underactuated surface vehicle (AUSV); full-state regulation control (FSRC); reaching trajectory (RT) guidance; translation-rotation cascade
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Funding
- National Natural Science Foundation of P. R. China [51009017, 51379002]
- Fund for Dalian Distinguished Young Scholars [2016RJ10]
- Fund for Liaoning Innovative Talents in Colleges and Universities [LR2017024]
- Stable Supporting Fund of Science and Technology on Underwater Vehicle Laboratory [SXJQR2018WDKT03]
- Fundamental Research Funds for the Central Universities [3132016314, 3132018126]
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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 sub-tasks, 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 translationrotation 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.
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