Abstract
In this brief, the path following control problem of underactuated hovercrafts subject to nonlinear time-varying uncertainties and a safety limit constraint (SLC) is addressed. A novel homogenous nonlinear extended state observer (NESO)-based safe motion controller for a path following control scenario of underactuated hovercrafts is proposed. First, a NESO is constructed to estimate and compensate the nonlinear time-varying uncertainties for the underactuated hovercraft. Then, a NESO-based backstepping sliding mode control (BSMC) law with a turning SLC is proposed to achieve the yaw control for underactuated hovercrafts, which improves both safety and maneuverability of the underactuated hovercraft during the path following control scenario. The nonlinear time-varying turning SLC is first directly taken into the control system design, which is achieved by introducing an auxiliary dynamic system to limit the virtual input control during the backstepping design process. A NESO-based backstepping surge control law is also designed to achieve the surge control for underactuated hovercrafts. Furthermore, all error signals of the proposed closed-loop control system are proven to be bounded. Finally, an application case is tested on an underactuated hovercraft to illustrate the effectiveness and superiority of the designed control scheme.
Highlights
Nonlinear motion control of marine surface vehicles, which includes underactuated hovercrafts, unmanned surface vehicles, and unmanned underwater vehicles, has attracted the attention of many researchers [1]
A safe control strategy has been presented for underactuated hovercrafts subject to nonlinear time-varying safety limit constraints and nonlinear time-varying uncertainties
The nonlinear time-varying turning safety limit is first considered in the controller design to improve the safety of underactuated hovercrafts
Summary
Nonlinear motion control of marine surface vehicles, which includes underactuated hovercrafts, unmanned surface vehicles, and unmanned underwater vehicles, has attracted the attention of many researchers [1]. Actuated autonomous underwater vehicle by Lamraoui in [17], where the designed harmonic ESO for thethe underactuated hovercraft suffering from unmodeled hydrodynamics complex canHowever, only estimate periodic disturbances. To improve the maneuverability of underactuated hovercrafts, various control research has been unknown time-varying uncertainties in this paper. There are many studies on the control methods of the underactuated hovercraft and better control performances have been achieved, the safety limit has not been taken into account in the above research. A homogenous nonlinear extended state observer is first proposed to approximate the nonlinear time-varying uncertainties of underactuated hovercrafts, which will greatly improve the accuracy and performance of the designed control system. The nonlinear time-varying turning safety limit constraint of underactuated hovercrafts is first considered in yaw controller design by introducing an auxiliary variable to limit the virtual control input.
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