Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties
The path following problem for an underactuated unmanned surface vehicle（USV） in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate tr...
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| Veröffentlicht in: | Journal of Central South University 2015, Vol.22 (1), p.214-223 |
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| container_title | Journal of Central South University |
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| creator | 廖煜雷 张铭钧 万磊 |
| description | The path following problem for an underactuated unmanned surface vehicle（USV） in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system（a nonlinear system with single-input and ternate-output） is transformed into the control problem of actuated system（a single-input and single-output nonlinear system）, which simplifies the controller design. A backstepping adaptive sliding mode controller（BADSMC）is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control（DSMC）. Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller. |
| doi_str_mv | 10.1007/s11771-015-2512-z |
| format | Article |
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The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system（a nonlinear system with single-input and ternate-output） is transformed into the control problem of actuated system（a single-input and single-output nonlinear system）, which simplifies the controller design. A backstepping adaptive sliding mode controller（BADSMC）is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control（DSMC）. Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.</description><identifier>ISSN: 2095-2899</identifier><identifier>EISSN: 2227-5223</identifier><identifier>DOI: 10.1007/s11771-015-2512-z</identifier><language>eng</language><publisher>Heidelberg: Central South University</publisher><subject>Engineering ; Frenet标架 ; Metallic Materials ; 不确定性 ; 无人地面车辆 ; 欠驱动系统 ; 滑模控制器 ; 自适应方法 ; 路径跟踪控制 ; 非线性系统</subject><ispartof>Journal of Central South University, 2015, Vol.22 (1), p.214-223</ispartof><rights>Central South University Press and Springer-Verlag Berlin Heidelberg 2015</rights><rights>Copyright © Wanfang Data Co. Ltd. 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Cent. South Univ</addtitle><addtitle>Journal of Central South University of Technology</addtitle><description>The path following problem for an underactuated unmanned surface vehicle（USV） in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system（a nonlinear system with single-input and ternate-output） is transformed into the control problem of actuated system（a single-input and single-output nonlinear system）, which simplifies the controller design. A backstepping adaptive sliding mode controller（BADSMC）is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control（DSMC）. Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.</description><subject>Engineering</subject><subject>Frenet标架</subject><subject>Metallic Materials</subject><subject>不确定性</subject><subject>无人地面车辆</subject><subject>欠驱动系统</subject><subject>滑模控制器</subject><subject>自适应方法</subject><subject>路径跟踪控制</subject><subject>非线性系统</subject><issn>2095-2899</issn><issn>2227-5223</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2015</creationdate><recordtype>article</recordtype><recordid>eNp9kMFOGzEQhq2qSEWBB-jN4loteGy8Gx8rVGglJA7A2ZrY482ijZfaXkLy9DUKglt98cj-v_mlj7HvIM5BiO4iA3QdNAJ0IzXIZv-FHUspu0ZLqb7WWZj6szTmGzvNeVgJBbJVrWmP2f6eUqLSXCeKVHhIuCG-wkyeT5E_Y1nzMI3jtB1iz90US5rG-pL4HD0ldGXGUrNz3GCMdchzCuiIv9B6cCNlvh3qCr-LuBlcjTlKBYdYBson7CjgmOn0_V6wx-tfD1e_m9u7mz9XP28bpzSUxpAA77wOwQTA4JYmOCMlmk57TQFFp0B4vQQRVtLjpRGhA0lekpZB1bNgPw57txgDxt4-TXOKtdHuY7_zr68rS7K6EyCqlQWDQ9qlKedEwT6nYYNpZ0HYN9v2YNtWwr7ZtvvKyAOTazb2lD4r_gedvRetp9j_rdxHU9uqTuhLJdQ_m4OR3g</recordid><startdate>2015</startdate><enddate>2015</enddate><creator>廖煜雷 张铭钧 万磊</creator><general>Central South University</general><scope>2RA</scope><scope>92L</scope><scope>CQIGP</scope><scope>W92</scope><scope>~WA</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>2B.</scope><scope>4A8</scope><scope>92I</scope><scope>93N</scope><scope>PSX</scope><scope>TCJ</scope></search><sort><creationdate>2015</creationdate><title>Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties</title><author>廖煜雷 张铭钧 万磊</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c351t-9e01dcd5ff9f1afc89fc922a975d5efa07310d5810fb2da490f712ed2e52f3333</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2015</creationdate><topic>Engineering</topic><topic>Frenet标架</topic><topic>Metallic Materials</topic><topic>不确定性</topic><topic>无人地面车辆</topic><topic>欠驱动系统</topic><topic>滑模控制器</topic><topic>自适应方法</topic><topic>路径跟踪控制</topic><topic>非线性系统</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>廖煜雷 张铭钧 万磊</creatorcontrib><collection>中文科技期刊数据库</collection><collection>中文科技期刊数据库-CALIS站点</collection><collection>中文科技期刊数据库-7.0平台</collection><collection>中文科技期刊数据库-工程技术</collection><collection>中文科技期刊数据库- 镜像站点</collection><collection>CrossRef</collection><collection>Wanfang Data Journals - Hong Kong</collection><collection>WANFANG Data Centre</collection><collection>Wanfang Data Journals</collection><collection>万方数据期刊 - 香港版</collection><collection>China Online Journals (COJ)</collection><collection>China Online Journals (COJ)</collection><jtitle>Journal of Central South University</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>廖煜雷 张铭钧 万磊</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties</atitle><jtitle>Journal of Central South University</jtitle><stitle>J. Cent. South Univ</stitle><addtitle>Journal of Central South University of Technology</addtitle><date>2015</date><risdate>2015</risdate><volume>22</volume><issue>1</issue><spage>214</spage><epage>223</epage><pages>214-223</pages><issn>2095-2899</issn><eissn>2227-5223</eissn><abstract>The path following problem for an underactuated unmanned surface vehicle（USV） in the Serret-Frenet frame is addressed. The control system takes account of the uncertain influence induced by model perturbation, external disturbance, etc. By introducing the Serret-Frenet frame and global coordinate transformation, the control problem of underactuated system（a nonlinear system with single-input and ternate-output） is transformed into the control problem of actuated system（a single-input and single-output nonlinear system）, which simplifies the controller design. A backstepping adaptive sliding mode controller（BADSMC）is proposed based on backstepping design technique, adaptive method and theory of dynamic slide model control（DSMC）. Then, it is proven that the state of closed loop system is globally stabilized to the desired configuration with the proposed controller. Simulation results are presented to illustrate the effectiveness of the proposed controller.</abstract><cop>Heidelberg</cop><pub>Central South University</pub><doi>10.1007/s11771-015-2512-z</doi><tpages>10</tpages></addata></record> |
| fulltext | fulltext |
| identifier | ISSN: 2095-2899 |
| ispartof | Journal of Central South University, 2015, Vol.22 (1), p.214-223 |
| issn | 2095-2899 2227-5223 |
| language | eng |
| recordid | cdi_wanfang_journals_zngydxxb_e201501026 |
| source | SpringerNature Journals; Alma/SFX Local Collection |
| subjects | Engineering Frenet标架 Metallic Materials 不确定性 无人地面车辆 欠驱动系统 滑模控制器 自适应方法 路径跟踪控制 非线性系统 |
| title | Serret-Frenet frame based on path following control for underactuated unmanned surface vehicles with dynamic uncertainties |
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