Tracking Control With Input Saturation and Full-State Constraints for Surface Vessels

Yuanhui Wang,Fuguang Ding,Wenchao She,Xiyun Jiang

doi:10.1109/access.2019.2945501

Yuanhui Wang, Fuguang Ding + Show 2 more

Open Access

https://doi.org/10.1109/access.2019.2945501

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Journal: IEEE Access	Publication Date: Jan 1, 2019
Citations: 11	License type: CC BY 4.0

Affiliation: Harbin Engineering University

Abstract

To solve the problems of full-state constraints in trajectory tracking of surface vessels, a backstepping technique combining a novel integral barrier Lyapunov function (iBLF) with neural network and sliding mode is proposed. Moreover, the control law is extended to the control problem with input saturation. First, the iBLF-based control approach is applied to the control design. The purpose of the iBLF-based approach is to deal with the constraints without transforming the constraints bound into the tracking errors bound. Second, the Neural Networks (NN) is used to handle with the system uncertainties, and a single parameter online adjustment is used instead of the weights online adjustment of the neural networks to realize the adaptive estimation of a single parameter. Third, defining an auxiliary analysis system to deal with the effect of input saturation on the system, an effective control approach under input saturation is realized. Furthermore, it is proved that the designed control law can guarantee the uniformly ultimately bounded stability of closed-loop system and system state can not violate the constraints. Finally, the simulation results of trajectory tracking control of the surface vessel show that the proposed control approach can effectively solve the control problem of nonlinear systems with full-state constraints, system uncertainties and input saturation.

Highlights

In recent years, with the increasing needs of the marine engineering [1], the higher accuracy of the trajectory tracking control of surface vessels for different mission requirements is strongly needed
The barrier Lyapunov function (BLF) approach is used to handle the system constrains by Lyapunov-based control design technique, which averts the need for explicit solutions
This paper investigates trajectory tracking control for surface vessels with full-state constraints, uncertainties and input saturation

Summary

INTRODUCTION

With the increasing needs of the marine engineering [1], the higher accuracy of the trajectory tracking control of surface vessels for different mission requirements is strongly needed. Based on the same approach, Yin et al [20] completed the control design for the MIMO surface vessel with full-state constraints and uncertain parameters. Few iBLF approaches are used to solve the trajectory tracking control problem for surface vessels with full-state constraints. This paper investigates trajectory tracking control for surface vessels with full-state constraints, uncertainties and input saturation. The main contributions of this paper are summarized as follows: 1) Compared with [20], a novel iBLF is employed for MIMO surface vessel full-state constraints control design to deal with constraints directly, without converting constraints into upper bounds of tracking errors.

PRELIMINARIES

FULL-STATE CONSTRAINTS

SIMULATIONS

CONCLIUSION