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Description
  • This brief considers the problem of trajectory tracking control for marine surface vessels with unknown time-variant environmental disturbances. The adopted mathematical model of the surface ship movement includes the Coriolis and centripetal matrix and the nonlinear damping terms. An observer is constructed to provide an estimation of unknown disturbances and is applied to design a novel trajectory tracking robust controller through a vectorial backstepping technique. It is proved that the designed tracking controller can force the ship to track the arbitrary reference trajectory and guarantee that all the signals of the closed-loop trajectory tracking control system of ships are globally uniformly ultimately bounded. The simulation results and comparisons illustrate the effectiveness of the proposed controller and its robustness to external disturbances.
  • This brief considers the problem of trajectory tracking control for marine surface vessels with unknown time-variant environmental disturbances. The adopted mathematical model of the surface ship movement includes the Coriolis and centripetal matrix and the nonlinear damping terms. An observer is constructed to provide an estimation of unknown disturbances and is applied to design a novel trajectory tracking robust controller through a vectorial backstepping technique. It is proved that the designed tracking controller can force the ship to track the arbitrary reference trajectory and guarantee that all the signals of the closed-loop trajectory tracking control system of ships are globally uniformly ultimately bounded. The simulation results and comparisons illustrate the effectiveness of the proposed controller and its robustness to external disturbances. (en)
Title
  • A trajectory tracking robust controller of surface vessels with disturbance uncertainties
  • A trajectory tracking robust controller of surface vessels with disturbance uncertainties (en)
skos:prefLabel
  • A trajectory tracking robust controller of surface vessels with disturbance uncertainties
  • A trajectory tracking robust controller of surface vessels with disturbance uncertainties (en)
skos:notation
  • RIV/61989100:27740/14:86092761!RIV15-MSM-27740___
http://linked.open...avai/riv/aktivita
http://linked.open...avai/riv/aktivity
  • P(ED1.1.00/02.0070)
http://linked.open...iv/cisloPeriodika
  • 4
http://linked.open...vai/riv/dodaniDat
http://linked.open...aciTvurceVysledku
  • Abraham Padath, Ajith
http://linked.open.../riv/druhVysledku
http://linked.open...iv/duvernostUdaju
http://linked.open...titaPredkladatele
http://linked.open...dnocenehoVysledku
  • 1251
http://linked.open...ai/riv/idVysledku
  • RIV/61989100:27740/14:86092761
http://linked.open...riv/jazykVysledku
http://linked.open.../riv/klicovaSlova
  • vectorial backstepping; trajectory tracking control of vessels; robust; nonlinear; Disturbance observer (en)
http://linked.open.../riv/klicoveSlovo
http://linked.open...odStatuVydavatele
  • US - Spojené státy americké
http://linked.open...ontrolniKodProRIV
  • [04C523FB6C96]
http://linked.open...i/riv/nazevZdroje
  • IEEE Transactions on Control Systems Technology. Volume 22
http://linked.open...in/vavai/riv/obor
http://linked.open...ichTvurcuVysledku
http://linked.open...cetTvurcuVysledku
http://linked.open...vavai/riv/projekt
http://linked.open...UplatneniVysledku
http://linked.open...v/svazekPeriodika
  • 22
http://linked.open...iv/tvurceVysledku
  • Abraham Padath, Ajith
  • Liu, H.
  • Yang, Y.
  • Du, J.
  • Guo, C.
http://linked.open...ain/vavai/riv/wos
  • 000338193100022
issn
  • 1063-6536
number of pages
http://bibframe.org/vocab/doi
  • 10.1109/TCST.2013.2281936
http://localhost/t...ganizacniJednotka
  • 27740
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