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Robust path‐following control based on trajectory linearization control for unmanned surface vehicle with uncertainty of model and actuator saturation
Author(s) -
Qiu Bingbing,
Wang Guofeng,
Fan Yunsheng,
Mu Dongdong,
Sun Xiaojie
Publication year - 2019
Publication title -
ieej transactions on electrical and electronic engineering
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.254
H-Index - 30
eISSN - 1931-4981
pISSN - 1931-4973
DOI - 10.1002/tee.22991
Subject(s) - control theory (sociology) , underactuation , linearization , robustness (evolution) , lyapunov function , artificial neural network , kinematics , actuator , feedback linearization , computer science , robust control , nonlinear system , trajectory , nonholonomic system , control engineering , engineering , control system , mobile robot , artificial intelligence , robot , control (management) , biochemistry , chemistry , physics , classical mechanics , quantum mechanics , astronomy , electrical engineering , gene
Abstract This article develops a novel path‐following control strategy for underactuated unmanned surface vehicle (USV) subject to unmodeled dynamics and unknown multiple disturbance. A practical robust path‐following controller is proposed using trajectory linearization control (TLC) technology, neural network, and auxiliary design system. First, the greatest advantage of this article is that the TLC technology is first introduced into the field of USV motion control, which provides a new direction for TLC technology research. Second, the underactuated model based on a transformation of the USV kinematics to Serret‐Frenet frame is simplified by introducing a nonlinear coordinate transformation. Meanwhile, to improve the robustness and reduce the computational complexity, radial basis function neural network is replaced by neural network with minimum learning parameter method to compensate for unmodeled dynamics and unknown multiple disturbance. In addition, an auxiliary dynamic system is used to reduce the risk of actuator saturation. The stability of the whole system was proved based on the Lyapunov criteria. Finally, the comparison results demonstrate the superior performance of the proposed approach. © 2019 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.