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Robust adaptive trajectory tracking control of underactuated surface vessel in fields of marine practice

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Abstract

To enhance the control system robustness of an underactuated surface vessel with model uncertainties and environmental disturbances, a robust adaptive trajectory tracking algorithm based on proportional integral (PI) sliding mode control and the backstepping technique is proposed. In this algorithm, a continuous adaptive term is constructed to reduce the chattering magenta phenomenon of the system due to the sliding mode surface, and the backstepping technique is employed to force the ship position and the orientation on the desired values. In addition, we have proved the Lyapunov stability of the closed-loop system under the discontinuous environment disturbances or the thruster discontinuity. Finally, numerical simulations are performed to demonstrate the effectiveness of this novel methodology.

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Acknowledgements

This paper is partly supported by the National Science Foundation of China under Grants (61473183, U1509211), National Postdoctoral innovative Talent Program (No. BX201600103), and China Postdoctoral Science Foundation (No. 2016M601600).

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Authors and Affiliations

  1. Department of Automation, Shanghai Jiao Tong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai, 200240, P. R. China

    Zhijian Sun, Guoqing Zhang, Lei Qiao & Weidong Zhang

  2. Navigation College, Dalian Maritime University, Liaoning, 116026, P. R. China

    Guoqing Zhang

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  1. Zhijian Sun
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  2. Guoqing Zhang
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  3. Lei Qiao
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  4. Weidong Zhang
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Corresponding author

Correspondence to Weidong Zhang.

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Sun, Z., Zhang, G., Qiao, L. et al. Robust adaptive trajectory tracking control of underactuated surface vessel in fields of marine practice. J Mar Sci Technol 23, 950–957 (2018). https://doi.org/10.1007/s00773-017-0524-0

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  • DOI: https://doi.org/10.1007/s00773-017-0524-0

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