Regular Papers

International Journal of Control, Automation and Systems 2023; 21(3): 764-774

Published online February 11, 2023

https://doi.org/10.1007/s12555-021-0912-4

© The International Journal of Control, Automation, and Systems

Practical Tracking Control of a Class of Uncertain Surface Vessels Under Weak Assumptions on Uncertainties and Reference Trajectories

Wenqing Xu, Jian Li*, and Zhaojing Wu

Yantai University

Abstract

This paper is devoted to the tracking control of a class of uncertain surface vessels. The main contributions focus on the considerable relaxation of the severe restrictions on system uncertainties and reference trajectory in the related literature. Specifically, all the system parameters are unknown and the disturbance is not necessarily to be differentiable in the paper, but either the unknown parameters or the disturbance is considered but the other one is excluded in the related literature, or both of them are considered but the disturbance must be continuously differentiable. Moreover, the reference trajectories in the related literature must be at least twice continuously differentiable and their time derivatives must be known for feedback, which are generalized to a more broad class of ones in the paper that are only once continuously differentiable without the measurements of their time derivatives. To solve the control problem, a novel practical tracking control scheme is presented by using backstepping scheme and adaptive technique, and in turn to derive an adaptive state-feedback controller which guarantees that all the states of the resulting closed-loop system are bounded while the tracking error arrives at and then stays within an arbitrary neighborhood of the origin. Finally, simulation is provided to validate the effectiveness of the proposed theoretical results.

Keywords Adaptive, practical tracking, surface vessel, uncertainties.

Article

Regular Papers

International Journal of Control, Automation and Systems 2023; 21(3): 764-774

Published online March 1, 2023 https://doi.org/10.1007/s12555-021-0912-4

Copyright © The International Journal of Control, Automation, and Systems.

Practical Tracking Control of a Class of Uncertain Surface Vessels Under Weak Assumptions on Uncertainties and Reference Trajectories

Wenqing Xu, Jian Li*, and Zhaojing Wu

Yantai University

Abstract

This paper is devoted to the tracking control of a class of uncertain surface vessels. The main contributions focus on the considerable relaxation of the severe restrictions on system uncertainties and reference trajectory in the related literature. Specifically, all the system parameters are unknown and the disturbance is not necessarily to be differentiable in the paper, but either the unknown parameters or the disturbance is considered but the other one is excluded in the related literature, or both of them are considered but the disturbance must be continuously differentiable. Moreover, the reference trajectories in the related literature must be at least twice continuously differentiable and their time derivatives must be known for feedback, which are generalized to a more broad class of ones in the paper that are only once continuously differentiable without the measurements of their time derivatives. To solve the control problem, a novel practical tracking control scheme is presented by using backstepping scheme and adaptive technique, and in turn to derive an adaptive state-feedback controller which guarantees that all the states of the resulting closed-loop system are bounded while the tracking error arrives at and then stays within an arbitrary neighborhood of the origin. Finally, simulation is provided to validate the effectiveness of the proposed theoretical results.

Keywords: Adaptive, practical tracking, surface vessel, uncertainties.

IJCAS
July 2024

Vol. 22, No. 7, pp. 2055~2340

Stats or Metrics

Share this article on

  • line

Related articles in IJCAS

IJCAS

eISSN 2005-4092
pISSN 1598-6446