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Nonlinear observer-based adaptive output feedback tracking control of underactuated ships with input saturation

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Abstract

This paper focuses on adaptive robust output feedback tracking control of an underactuated ship considering input saturation and unavailable velocities. First, a nonlinear observer is designed for the estimation of velocities and the backstepping method is combined with the dynamic surface control (DSC) technique to stabilize the tracking errors and solve the problem of complexity explosion inherent. Then, an adaptive algorithm is designed to estimate the upper bound of external disturbances. In particular, the hyperbolic tangent function and an auxiliary system are used to compensate for the input saturation. Finally, According to the Lyapunov stability theory, all closed-loop signals are uniformly ultimately bounded (UUB). Simulation results and comparisons show the effectiveness and superiority of the designed controller.

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Acknowledgements

The authors are really grateful to editors and reviewers for their comments, which improve the quality of this study. This work was supported in part by the National Natural Science Foundation of China under Grant 51809028 and Grant 51879027, in part by China Postdoctoral Science Foundation under Grant 2020M670733, in part by the Doctoral Start-up Foundation of Liaoning Province under Grant 2019-BS-022, and in part by the Fundamental Research Funds for the Central Universities under Grant 3132019318.

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Authors and Affiliations

  1. The College of Marine Electrical Engineering, Dalian Maritime University, Dalian, 116026, Liaoning, People’s Republic of China

    Zhipeng Shen, Ang Li, Li Li & Haomiao Yu

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  1. Zhipeng Shen
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  2. Ang Li
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  3. Li Li
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  4. Haomiao Yu
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Contributions

ZS: Conceptualization, Supervision. AL: Writing - original draft, Writing-review & editing. LL: Resources. HY: Funding acquisition, Writing-review & editing.

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Correspondence to Zhipeng Shen.

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The authors declare that they have no personal competition or interest relationship that could have influenced the work reported in this paper.

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Shen, Z., Li, A., Li, L. et al. Nonlinear observer-based adaptive output feedback tracking control of underactuated ships with input saturation. J Mar Sci Technol 27, 1015–1030 (2022). https://doi.org/10.1007/s00773-022-00890-w

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  • DOI: https://doi.org/10.1007/s00773-022-00890-w

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