Tracking Control of Marine Craft in the port-Hamiltonian Framework: A Virtual Differential Passivity Approach

In this work we propose a family of trajectory tracking controllers for marine craft in the port-Hamiltonian (pH) framework using virtual differential passivity based control (v-dPBC). Two pH models of marine craft are considered, one in a body frame and another in an inertial frame. The structure and workless forces of pH models are exploited to design two virtual control systems which are related to the original marine craft's pH models. These virtual systems are rendered differentially passive with an imposed steady-state trajectory, both by means of a control scheme. Finally, the original marine craft pH models in closed-loop with above controllers solve the trajectory tracking problem. The performance of the closedloop system is evaluated on numerical simulations.Comment: Submitted to CDC 201

Tuning of Passivity-Based Controllers for Mechanical Systems

This article describes several approaches for tuning the parameters of a class of passivity-based controllers for standard nonlinear mechanical systems. In particular, we are interested in tuning controllers that preserve the mechanical system structure in the closed loop. To this end, first, we provide tuning rules for stabilization, i.e., the rate of convergence (exponential stability) and stability margin (input-to-state stability). Then, we provide guidelines to remove the overshoot. In addition, we propose a methodology to tune the gyroscopic-related parameters. We also provide remarks on the damping phenomenon to facilitate the practical implementation of our approaches. We conclude this article with experimental results obtained from applying our tuning rules to a fully actuated and an underactuated mechanical system

IDA-PBC Control of an Underactuated Underwater Vehicle

[ES] En este trabajo se presenta el diseño de un IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) para la regulación de un vehículo submarino subactuado. Se consideran seis grados de libertad y cuatro propulsores como actuadores, lo cual es un desafío para su control de movimiento. Específicamente, el IDA-PBC diseñado permite llevar el vehículo a una profundidad y orientación deseadas y constantes. Resultados de simulación sobre el modelo del vehículo submarino utilizado validan el desempeño del sistema de control propuesto.[EN] This paper presents an IDA-PBC (Interconnection and Damping Assignment-Passivity Based Control) for underactuated undewater vehicle control, which it has more degree of freedom than actuators. In this proposal, six degree of freedom and only four propels as actuators are considered, which it oers a main control challenge. Specifically, the IDA-PBC proposed drives the vehicle towards a desired deep and orientation. Simulation results on a vehicle model validate the performance of the control scheme proposed.Este trabajo fue parcialmente apoyado por el Tecnologi- ´ co Nacional de Mexico (Contratos TecNM 5939.16-P.C-P y ´ 6104.17-P), y por el Consejo Nacional de Ciencia y Tecnolog´ıa (Contrato CONACyT 166636).García, D.; Sandoval, J.; Gutiérrez–jagüey, J.; Bugarin, E. (2017). Control IDA-PBC de un Vehículo Submarino Subactuado. Revista Iberoamericana de Automática e Informática industrial. 15(1):36-45. https://doi.org/10.4995/riai.2017.8829OJS3645151Acosta, V., Ríos-Bolívar, M., 2010. Aplicación del enfoque ida-pbc en la estabilización del sistema pendubot. Revista Ciencia e Ingeniería 31 (1), 3-12.Akcakaya, H., Sumer, L., 2013. Ida-pbc design for marine vehicle. 1st IFAC Workshop on Advances in Control and Automation Theory for Transportation Applications, Istanbul, Turkey, 150-155. https://doi.org/10.3182/20130916-2-TR-4042.00014Balebona, C., Jenry, J., 2009. Dise-o de controladores de energía (hamiltonianos) para sistemas no lineales con un grado de subactuación: un enfoque ida-pbc. Tesis de Posgrado, Universidad de Oriente, Barcelona, España.Bloch, A. M., Chang, D. E., Leonard, N. E., Marsden, J. E., 2001. Controlled lagrangians and the stabilization of mechanical systems ii: Potential shaping. IEEE Transactions on Automatic Control 46 (10), 1556-1571. https://doi.org/10.1109/9.956051Borja, P., Espinosa, G., 2013. Seguimiento de trayectorias para sistemas mecánicos subactuados vía ida-pbc. Congreso Nacional de Control Automático, Ensenada, Baja California, México.Cornejo, C., 2010. Sistemas dinámicos con fricción expresada en ecuaciones hamiltonianas controladas por puerto. Tesis de doctorado. Universidad Nacional Autónoma de México. México.de la Cruz, J. M., Almansa, J. A., Sierra, J. M., 2012. Automática marina: Una revisión desde el punto de vista del control. Revista Iberoamericana de Automática e Informática Industrial 29 (3), 205-218.Donaire, A., Pérez, T., 2010. Port-hamiltonian theory of motion control for marine craft. In Proceedings of the 8th IFAC Conference on Control Applications in Marine Systems. Rostock, Alemania, 201-206. https://doi.org/10.3182/20100915-3-DE-3008.00054Donaire, A., Pérez, T., 2012. Dynamic positioning of marine craft using porthamiltonian framework. Automatica 48, 851-856. https://doi.org/10.1016/j.automatica.2012.02.022Eski, I., Yildirim, S., 2014. Design of neural network control system for controlling trajectory of autonomous underwater vehicles. International Journal of Advanced Robotic Systems. 11, 1-17. https://doi.org/10.5772/56740Fossen, T., 2011. Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley. https://doi.org/10.1002/9781119994138Gómez-Estern, F., 2002. Control de sistemas no lineales basados en la estructura hamiltoniana. Tesis Doctoral, Universidad de Sevilla.Gómez-Estern, F., Ortega, R., Rubio, F. R., Aracil, J., 2001. Stabilization of a class of underactuated mechanical systems via total energy shaping. Proceedings of the 40th IEEE Conference on Decision and Control 2, 1137-1143. https://doi.org/10.1109/CDC.2001.981038González, J., Gomáriz, S., Batlle, C., 2015. Control difuso para el seguimiento de gui-ada del auv cormorán. Revista Iberoamericana de Automática e Informática Industrial 12, 166-176. https://doi.org/10.1016/j.riai.2015.02.003Healey, A. J., Lienard, D., 1993. Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles. IEEE Journal of Oceanic Engineering. 18, 327-339. https://doi.org/10.1109/JOE.1993.236372Khalil, H., 2002. Nonlinear systems. Prentice Hall.Kotyczka, P., Lohmann, B., 2009. Parametrization of ida-pbc by assignment of local linear dynamics. Proceedings of the European Control Conference, Budapest, Hungary, 4721-4726.Moreno, H., Saltarén, R., Puglisi, I., Carrera, L., Cárdenas, P., Álvarez, C., 2014. Robótica submarina: Conceptos, elementos, modelado y control. Revista Iberoamericana de Automática e Informática Industrial 11, 3-19. https://doi.org/10.1016/j.riai.2013.11.001Morillo, A., Arteaga., F., 2007. Estabilización del sistema acrobot usando el enfoque ida-pbc. Revista Ingeniería UC 14 (3), 30-40.Ortega, R., García-Canseco, E., 2004. Interconnection and damping assignment passivity-based control: A survey. European Journal of Control 10 (5), 432-450. https://doi.org/10.3166/ejc.10.432-450Ortega, R., Spong, M. W., Gómez-Estern, F., Blankenstein, G., 2002. Stabilization of a class of underactuated mechanical systems via interconnection and damping assignment. IEEE Transactions on Automatic Control 47 (8), 1218-1233. https://doi.org/10.1109/TAC.2002.800770Ortega, R., van der Schaft, A., Castanos, F., Astolfi, A., 2008. Control by interconnection and standard passivity-based control of port-hamiltonian systems. IEEE Transactions on Automatic Control 53, 2527-2542. https://doi.org/10.1109/TAC.2008.2006930Pérez, T., Donaire, A., Renton, C., Valentinis, F., 2013. Energy-based motion control of marine vehicles using interconnection and damping assignment passivity-based control - a survey. 9th IFAC Conference on Control Applications in Marine Systems, Osaka, Japan, 316-327. https://doi.org/10.3182/20130918-4-JP-3022.00072Sandoval, J., Kelly, R., 2013. Dise-o de un nuevo ida-pbc para la estabilización del sistema carro-péndulo. Congreso Internacional de Robótica y Computación, Los Cabos, Baja California Sur, México.Sandoval, J., Kelly, R., Santibá-ez, V., 2011. Interconnection and damping assignment passivity-based control of a class of underactuated mechanical systems with dynamic friction. International Journal of Robust and Nonlinear Control 21, 738-751. https://doi.org/10.1002/rnc.1622Santhakumar, M., Asokan, T., 2010. A self-tuning proportional-integralderivative controller for an autonomous underwater vehicle, based on taguchi method. J. Comput. Sci. 6, 862-871. https://doi.org/10.3844/jcssp.2010.862.871Shi, Y., Qian, W., Yan, W., Li, J., 2007. Adaptive depth control for autonomous underwater vehicles based on feedforward neural networks. International Journal of Computer Science and Applications 4, 107-118.Valentinis, F., Donaire, A., Pérez, T., 2013. Control of an underactuated-slender-hull unmanned underwater vehicle using port-hamiltonian theory. International Conference on Advanced Intelligent Mechatronics (AIM),Wollongong, Australia, 1546-1551. https://doi.org/10.1109/AIM.2013.6584315Valentinis, F., Donaire, A., Pérez, T., 2015a. Energy-based guidance of an underactuated unmanned underwater vehicle on a helical trajectory. Control Engineering Practice 44, 138-156. https://doi.org/10.1016/j.conengprac.2015.07.010Valentinis, F., Donaire, A., Pérez, T., 2015b. Energy-based motion control of a slender hull unmanned underwater vehicle. Ocean Engineering 104, 604-616. https://doi.org/10.1016/j.oceaneng.2015.05.014Yüksel, B., Secchi, C., Bültho, H. H., Franchi, A., 2014. Reshaping the physical properties of a quadrotor through ida-pbc and its application to aerial physical interaction. IEEE International Conference on Robotics and Automation. Hong Kong. China, 6258-6265. https://doi.org/10.1109/ICRA.2014.690778

A port-Hamiltonian framework for operator force assisting systems: Application to the design of helicopter flight controls

An energetic representation of helicopter flight controls, viewed as an Operator Assisting System, is proposed within the Port-Hamiltonian framework. The assisting controller modifies the dynamical behavior between the pilot stick and the swashplate, linked through a Continuous Variable Transmission, by enforcing force scaling and providing appropriate force feedback to the operator. Generic sufficient conditions are given on the assistance location and structure which allow the assisted system to be dissipative, hence providing nice stability and power scaling properties. Results are applied to the design of an assistance for a simplified flight control system. Simulations show the relevance of the method and are compared to real-life results

Automatic Control and Routing of Marine Vessels

Due to the intensive development of the global economy, many problems are constantly emerging connected to the safety of ships’ motion in the context of increasing marine traffic. These problems seem to be especially significant for the further development of marine transportation services, with the need to considerably increase their efficiency and reliability. One of the most commonly used approaches to ensuring safety and efficiency is the wide implementation of various automated systems for guidance and control, including such popular systems as marine autopilots, dynamic positioning systems, speed control systems, automatic routing installations, etc. This Special Issue focuses on various problems related to the analysis, design, modelling, and operation of the aforementioned systems. It covers such actual problems as tracking control, path following control, ship weather routing, course keeping control, control of autonomous underwater vehicles, ship collision avoidance. These problems are investigated using methods such as neural networks, sliding mode control, genetic algorithms, L2-gain approach, optimal damping concept, fuzzy logic and others. This Special Issue is intended to present and discuss significant contemporary problems in the areas of automatic control and the routing of marine vessels

Identification and Optimal Linear Tracking Control of ODU Autonomous Surface Vehicle

Autonomous surface vehicles (ASVs) are being used for diverse applications of civilian and military importance such as: military reconnaissance, sea patrol, bathymetry, environmental monitoring, and oceanographic research. Currently, these unmanned tasks can accurately be accomplished by ASVs due to recent advancements in computing, sensing, and actuating systems. For this reason, researchers around the world have been taking interest in ASVs for the last decade. Due to the ever-changing surface of water and stochastic disturbances such as wind and tidal currents that greatly affect the path-following ability of ASVs, identification of an accurate model of inherently nonlinear and stochastic ASV system and then designing a viable control using that model for its planar motion is a challenging task. For planar motion control of ASV, the work done by researchers is mainly based on the theoretical modeling in which the nonlinear hydrodynamic terms are determined, while some work suggested the nonlinear control techniques and adhered to simulation results. Also, the majority of work is related to the mono- or twin-hull ASVs with a single rudder. The ODU-ASV used in present research is a twin-hull design having two DC trolling motors for path-following motion. A novel approach of time-domain open-loop observer Kalman filter identifications (OKID) and state-feedback optimal linear tracking control of ODU-ASV is presented, in which a linear state-space model of ODU-ASV is obtained from the measured input and output data. The accuracy of the identified model for ODU-ASV is confirmed by validation results of model output data reconstruction and benchmark residual analysis. Then, the OKID-identified model of the ODU-ASV is utilized to design the proposed controller for its planar motion such that a predefined cost function is minimized using state and control weighting matrices, which are determined by a multi-objective optimization genetic algorithm technique. The validation results of proposed controller using step inputs as well as sinusoidal and arc-like trajectories are presented to confirm the controller performance. Moreover, real-time water-trials were performed and their results confirm the validity of proposed controller in path-following motion of ODU-ASV