This work addresses adaptive path-following control of underactuated surface vehicles (USV) subject to unknown disturbances. To deal with the underactuation of the vehicle, an arbitrarily small error vector is added to the path-following position error. A disturbance rejection with a time-varying adaptive gain is also used to attenuate the unknown disturbances. A path-following control force is devised to steer the vehicle asymptotically to a small region around the desired path, which can be made arbitrarily small. Uniform asymptotic stability of the path-following is established by Lyapunov stability theory. Simulation results of straight-line following are given to support the theoretical results.

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Robust Path-Following of Underactuated Surface Vehicles with an Arbitrarily Small Position Error

  • Quoc Van Tran,
  • Duc Sang Cao,
  • Huy Viet Phung,
  • Hai Manh Sam,
  • Ngo Van He

摘要

This work addresses adaptive path-following control of underactuated surface vehicles (USV) subject to unknown disturbances. To deal with the underactuation of the vehicle, an arbitrarily small error vector is added to the path-following position error. A disturbance rejection with a time-varying adaptive gain is also used to attenuate the unknown disturbances. A path-following control force is devised to steer the vehicle asymptotically to a small region around the desired path, which can be made arbitrarily small. Uniform asymptotic stability of the path-following is established by Lyapunov stability theory. Simulation results of straight-line following are given to support the theoretical results.