Abstract
Based on an integral backstepping approach, a trajectory-tracking control algorithm is proposed for an underactuated unmanned marine vehicle (UMV) sailing in the presence of ocean-current disturbance. Taking into consideration the UMV model's fore/aft asymmetry, a nonlinear three-degree-of-freedom (3DOF) underactuated dynamic model is established for the horizontal plane. First, trajectory-tracking differences between controllers designed based on symmetric and asymmetric models of the UMV are discussed. In order to explicitly study the effect of ocean-current interference on the trajectory-tracking controller, the ocean current is integrated into the kinematic and dynamic models of the UMV. Detailed descriptions of distinct trajectory-tracking control performances in the presence of different ocean-current velocities and direction angles are presented. The well-known persistent exciting (PE) condition is completely released in the designed trajectory-tracking controller. A mild integral item of trajectory tracking error is merged into the control law, and global stability analysis of the UMV system is carried out using Lyapunov theory and Barbalat's Lemma. Simulation experiments in the semi-physical simulation platform are implemented to confirm the effectiveness and superiority of the excogitated control algorithm.
Highlights
For many years, the scientific, commercial, and naval sectors have shown considerable interest in the design and development of unmanned marine vehicles (UMVs), which can be used to perform a multitude of different tasks, such as mineral resources sampling, offshore oil and gas operations, ocean engineering maintenance, and military reconnaissance [1,2,3,4]
As described in [5], UMV is usually used as a generic term to describe unmanned/autonomous underwater vehicles (UUV/AUV) and unmanned/unin‐ habited surface vessels (USV)
Based on an asymmetrical vehicle model, a nonlinear integral backstepping algorithm has been proposed for trajectory-tracking control of an underactuated UMV sailing in the presence of irrotational and constant currents
Summary
The scientific, commercial, and naval sectors have shown considerable interest in the design and development of unmanned marine vehicles (UMVs), which can be used to perform a multitude of different tasks, such as mineral resources sampling, offshore oil and gas operations, ocean engineering maintenance, and military reconnaissance [1,2,3,4]. Ship hydrodynamic analysis shows that, under the assumption of a UMV with both port/star‐ board and fore/aft symmetry, all off-diagonal elements of the UMV’s damping and inertia matrices are zero In this case, the trajectory-tracking controller design would be more convenient, and this is one of the main reasons for the assumption.
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