Upravljanje pozicijom električki pokretanog brzog površinskog vozila korištenjem unaprijedne projekcije izlazne povratne veze

Robust tracking is an issue of vital practical importance to the ship This paper addresses the design of a trajectory tracking controller for fast underactuated ships in the presence of model uncertainties without velocity measurements in the yaw and surge directions. An observer-based trajectory tracking controller is proposed for the fast underactuated ship model. Then, the dynamic surface control approach is effectively exploited to propose a tracking controller considering the actuator dynamics. Adaptive robust techniques are also adopted to cope with the parametric and non-parametric uncertainties in the fast underactuated ship model. A Lyapunov-based stability analysis is utilised to guarantee that tracking and state estimation errors are uniformly ultimately bounded. Simulation results are presented to illustrate the feasibility and efficiency of the proposed controller.Robusno praćenje je pitanje od vitalnog praktičnog značaja za brod. Ovaj se rad bavi projektiranjem regulatora za praćenje trajektorije za brze podaktuirane brodove s modelima nesigurnosti bez mjerenja brzine u smjerovima zaošijanja i uzdužnog napredovanja. Regulator za praćenje putanje zasnovan na observeru predložen je za brz podaktuiran model broda. Upravljanje površinskom dinamikom je učinkovito iskorišteno kako bi se predložio regulatora za praćenje trajektorije s obzirom na dinamiku aktuatora. Također su primjenjene adaptivne robusne tehnike kako bi se nosile sa parametarskim i neparametarskim nesigurnostima u modelu brzog podaktuiranoga broda. Analiza stabilnosti temeljena na Lyapunovu se koristi kako bi se zajamčilo da se pogreške praćenja i estimacije stanja adaptivne robusne tehnike također usvajaju kako bi se nosile s parametarskim i neparametarskim nesigurnostima u brzom neaktivnom brodskom modelu. Analiza stabilnosti temeljena na Lyapunovu se koristi kako bi se zajamčilo da su pogreške praćenja i procjene stanja jednoliko konačno ograničene. Prikazani su simulacijski rezultati koji ilustriraju izvedivost i učinkovitost predloženog regulatora

Global tracking for an underactuated ships with bounded feedback controllers

In this paper, we present a global state feedback tracking controller for underactuated surface marine vessels. This controller is based on saturated control inputs and, under an assumption on the reference trajectory, the closed-loop system is globally asymptotically stable (GAS). It has been designed using a 3 Degree of Freedom benchmark vessel model used in marine engineering. The main feature of our controller is the boundedness of the control inputs, which is an essential consideration in real life. In absence of velocity measurements, the controller works and remains stable with observers and can be used as an output feedback controller. Simulation results demonstrate the effectiveness of this method

Ship Course Keeping Using Different Sliding Mode Controllers

This study addresses three sliding mode heading controllers for dealing with uncertain wave disturbances. A nonlinear steering model is derived, and the feedback linearization method is chosen to simplify the nonlinear system in this study. The adaptive method and disturbance observer technique are proposed for course keeping and ensuring robust performance of the time varying wave moment and actuator dynamics. Finally, the simulation results on a navy ship illustrate the effectiveness of the presented control algorithms for course keeping

Nonlinear Feedback Control of Axisymmetric Aerial Vehicles

We investigate the use of simple aerodynamic models for the feedback control of aerial vehicles with large flight envelopes. Thrust-propelled vehicles with a body shape symmetric with respect to the thrust axis are considered. Upon a condition on the aerodynamic characteristics of the vehicle, we show that the equilibrium orientation can be explicitly determined as a function of the desired flight velocity. This allows for the adaptation of previously proposed control design approaches based on the thrust direction control paradigm. Simulation results conducted by using measured aerodynamic characteristics of quasi-axisymmetric bodies illustrate the soundness of the proposed approach