Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels
Design, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels
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DOI：
10.1016/j.automatica.2009.03.010
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发表时间：
2009-07-01
期刊：
影响因子：
6.4
通讯作者：
Oh, Soryeok
中科院分区：
文献类型：
--
作者：
Li, Zhen;Sun, Jing;Oh, Soryeok
研究了利用舵角进行船舶航迹跟踪的问题。采用四自由度非线性水面舰艇模型和Serret-Frenet方程描述船舶动力学和航迹跟踪误差动力学。虽然类似的模型已被使用，并在文献中报道的路径跟踪控制算法的发展，在这项工作中提出的方法的新奇在于以下几个方面。(a)（B）在李雅普诺夫函数中引入了附加的设计参数，简化了控制器的设计过程，并对李雅普诺夫函数中的不同变量进行了归一化处理，提高了控制器的性能;（c）依靠反馈主导并在李雅普诺夫函数中引入附加参数，所得控制器几乎是线性的，具有非常良性的非线性，便于分析和评估;以及（d）在存在模型不确定性的情况下，分析非线性控制器在路径跟踪方面的性能的鲁棒性。仿真结果验证和说明了分析的发展和有效性的控制对舵饱和和速率限制，控制执行中的延迟，以及测量噪声。此外，控制设计验证了在坦克使用模型船进行的实验结果。(C)2009爱思唯尔有限公司保留所有权利。
The problem of path following for marine surface vessels using the rudder angle is addressed in this paper. A four-degree-of-freedom nonlinear surface vessel model, together with the Serret-Frenet equations, is introduced to describe the ship dynamics and path following error dynamics. While similar models have been used and reported in the literature for path following control algorithm development, the novelty of the approach presented in this work lies in the following aspects. (a) The back-stepping nonlinear controller design is based on feedback dominance, instead of feedback linearization and nonlinearity cancelation; (b) additional design parameters are employed in the Lyapunov function that lead to simplification of the controller in the design procedure and normalization of different variables in the Lyapunov function to improve the controller performance; (c) relying on feedback dominance and the introduction of the additional parameters in the Lyapunov function, the resulting controller is almost linear, with very benign nonlinearities allowing for analysis and evaluation; and (d) the performance of the nonlinear controller, in terms of path following, is analyzed for robustness in the presence of model uncertainties. The simulation results are presented to verify and illustrate the analytic development and the effectiveness of the resulting control against rudder saturation and rate limits, and delays in the control execution, as well as measurement noises. Furthermore, the control design is validated by experimental results conducted in a tank using a model ship. (C) 2009 Elsevier Ltd. All rights reserved.