Tracking Control of Docking Maneuvers for a Fully Actuated Surface Vessel Using Backstepping

IF 4.9 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

IEEE Transactions on Control Systems Technology Pub Date : 2024-04-19 DOI:10.1109/TCST.2024.3385666

Leticia Mayumi Kinjo;Tomas Ménard;Stefan Wirtensohn;Olivier Gehan;Johannes Reuter

引用次数: 0

Abstract

In this brief, trajectory tracking for a fully actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.

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使用反向步法跟踪控制全驱动水面舰艇的对接动作

在本简介中，我们讨论了在执行自动对接时对全驱动水面舰艇进行轨迹跟踪的问题。环境干扰、整体作用以及物理致动器数量都直接集成到了该方法中，从而避免了额外的控制分配。通过采用反步进设计，证明了均匀的局部指数稳定性。控制器的性能通过全尺寸实验得到了证明。此外，还对物理实验和模拟进行了比较。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Transactions on Control Systems Technology 工程技术-工程：电子与电气

CiteScore

10.70

自引率

2.10%

发文量

218

审稿时长

6.7 months

期刊介绍： The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.