Unmanned surface vehicle robust tracking control using an adaptive super-twisting controller

IF 5.4 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2024-06-01 DOI:10.1016/j.conengprac.2024.105985

Alejandro Gonzalez-Garcia , Herman Castañeda , Jesús De León-Morales

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引用次数: 0

Abstract

A differential drive catamaran unmanned surface vehicle tracking control in presence of external disturbances and uncertainties is addressed. A super-twisting control considering a single adaptive gain is adopted, where the number of tuning parameters of this control gain is reduced compared with standard adaptive super-twisting approaches. Furthermore, the gain exhibits smooth dynamics compared with controls using discontinuous functions signals. An analysis of the closed loop stability is provided using a Lyapunov approach. The proposed adaptive super-twisting approach is designed to drive the vessel along time-varying trajectories in presence of perturbations, ensuring robustness, and practical finite-time convergence. Numerical simulations, and real-time experimental tests using a prototype, illustrate the control performance under payload uncertainty and external perturbations. For further demonstration, a comparison with some of the existing versions of the super-twisting control included one with variable gain is provided.

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使用自适应超扭曲控制器的无人水面飞行器鲁棒跟踪控制

研究了存在外部干扰和不确定性时的差分驱动双体无人水面飞行器跟踪控制。采用了一种考虑到单一自适应增益的超扭曲控制，与标准自适应超扭曲方法相比，该控制增益的调整参数数量有所减少。此外，与使用不连续函数信号的控制相比，该增益具有平滑的动态特性。利用 Lyapunov 方法对闭环稳定性进行了分析。所提出的自适应超扭曲方法可在存在扰动的情况下沿着时变轨迹驱动船只，确保稳健性和实用的有限时间收敛性。数值模拟和使用原型进行的实时实验测试说明了有效载荷不确定性和外部扰动下的控制性能。为了进一步证明这一点，还提供了与一些现有超扭曲控制版本的比较，包括一个具有可变增益的版本。

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

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.