Abstract
The paper considers an algorithm designed to control the motion of an underactuated vessel along a path with a continuous bounded curvature. The algorithm, based on transverse feedback linearization, provides for restriction of the control signal. In this case, the state vector of the vessel motion model does not approach the singularity point of the control law. The control algorithm makes the vessel return to the desired path-attractor at any lateral deviation of the vessel from the desired path.
Similar content being viewed by others
REFERENCES
Fossen, T.I., A survey on nonlinear vessel control: From theory to practice, IFAC Manoeuvring and Control of Marine Craft, Aalborg, Denmark, 2000.
Le Wang et al., State-of-the-Art Research on motion control of maritime autonomous surface vessels, Journal of Marine Science and Engineering. Published: 1 December 2019.
Astrom, K. and Murray, R., Feedback systems. An Introduction for Scientists and Engineers, Princeton University Press, 2008.
Krstic, M., Kanellakopoulos, I., and Kokotovic, P., Nonlinear and adaptive control design, John Wiley & Sons, inc., New York, 1995.
Lapierre, L., Soeteanto, D., and Pascoal, A., Nonlinear path following with applications to the control of autonomous underwater vehicles, Proceedings of the 42nd IEEE CDC, Maui, Hawaii, USA, 2003.
Dovgobrod, G.M., Development of an adaptive algorithm to control a vessel motion along a curvilinear path using backstepping, Giroskopiya i navigatsiya, 2011, no. 4, pp. 22–31.
Pelevin, A.E., Stabilization of the vessel motion on curvilinear path, Giroskopiya i navigatsiya, 2002, no. 2, pp. 3–11.
Isidori, A., Nonlinear control systems, 5th ed., Berlin: Springer-Verlag, 1995.
Shankar Sastry, Nonlinear Systems Analysis, Stability, and Control. New York: Springer, 1999.
Miroshnik, I.V., Teoriya avtomaticheskogo upravleniya. Nelineinye i optimal’nye sistemy (Automatic Control Theory. Nonlinear and Optimal Systems), St.Petersburg: Peter, 2006.
Nielsen, C. and Maggiore, M., Maneuver regulation via transverse feedback linearization: Theory and examples, Proceedings of the IFAC Symposium on Nonlinear Control Systems (NOLCOS), Stuttgart, Germany, September 2004.
Kapitanyuk, Yu.A. and Chepinsky, S.A., Mobile robot control along a given piecewise-smooth path, Giroskopiya i navigatsiya, 2013, no. 2, pp. 42–52.
Kolesnikov, A.A., Sinergeticheskaya teoriya upravleniya (Synergetic Control Theory). Taganrog: TRTU. Moscow: Energoatomizdat, 1994.
Cox, D.A., Little J., and O’Shea, D., Ideals, Varieties, and Algorithms: An Introduction to Computational Algebraic Geometry and Commutative Algebra (Undergraduate Texts in Mathematics), 4th ed., Springer, 2015.
Piazzi, A., Guarino Lo Bianco, C., and Romano, M., Smooth Path Generation for Wheeled Mobile Robots Using η3-Splines, Motion Control, Federico Casolo (Ed.), 2010, URL: http://www.intechopen.com/ books/motion-control/smooth-path-generation-for-wheeledmobile-robots-using-eta3-splines/.
Dovgobrod, G.M., Generation of a Highly-Smooth Desired Path for Transverse Feedback Linearization, Gyroscopy and Navigation, 2017, vol. 8, no. 1, pp. 63–67.
Lt Cdr Swarup Das, Dr SE Talole. Evolution of Vessel’s Mathematical Model from Control Point of View// https://www.researchgate.net/publication/321012489.
Andreev, Yu.N., Upravlenie konechnomernymi lineinymi ob”yektami (Control of Finite-dimensional Linear Objects), Moscow: Nauka, Fizmatlit, 1976.
Pershits, R.L., Upravlyayemost’ i upravlenie sudnom (Vessel Steering and Control), Leningrad: Sudostroenie, 1983.
Poselenov, E.N., Justification and development of an adaptive algorithm to control the motion of a displacement river vessel in shallow water, Cand. Sci. Dissertation, Nizhny Novgorod: Volga State Academy of Water Transport, 2010.
Cayero, J., Cuguero, J., and Morcego, B., Backstepping with virtual filtered command: Application to a 2D autonomous Vehicle.julen.cayero at upc.edu. http:// upcommons.upc.edu/handle/2117/25003.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Dovgobrod, G.M. Stabilization of the Vessel Motion by Restricted Control. Gyroscopy Navig. 12, 109–118 (2021). https://doi.org/10.1134/S207510872101003X
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1134/S207510872101003X