This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the book’s significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields.
Author(s): Ge Guo, Zhenyu Gao, Pengfei Zhang
Publisher: Springer
Year: 2021
Language: English
Pages: 252
City: Singapore
Preface
Acknowledgements
Contents
Part I Stabilization Control
1 Fixed-Time Stabilization Control of AMVs with Actuator Dead-Zones
1.1 Introduction
1.2 System Modeling and Preliminaries
1.2.1 Dynamic and Kinematic Model
1.2.2 The Objective
1.2.3 Preliminaries
1.3 Model Transformation
1.4 Fixed-Time Controller Design
1.4.1 Switching Scheme
1.4.2 Fixed-Time Control Law
1.4.3 Control Algorithm
1.5 Numerical Simulations
1.5.1 Stability Analysis
1.5.2 Comparisons
1.6 Conclusion and Future Work
References
2 Stabilization Control of AMVs Under Mismatched Disturbance
2.1 Introduction
2.2 Problem Statements and Preliminaries
2.2.1 Modeling
2.2.2 The Objective
2.3 Fixed-Time Disturbance Observers
2.4 Stabilization of AMVs
2.4.1 Stabilization of Horizontal Subsystem
2.4.2 Control Law Design
2.4.3 Stability Analysis
2.4.4 Control Algorithm
2.5 Numerical Simulations
2.5.1 Stability Analysis
2.5.2 Estimation Error
2.5.3 Comparisons
2.6 Conclusion and Future Work
References
3 Asymptotic Stabilization of AMVs with Actuator Dead-Zones and Yaw Constraints
3.1 Introduction
3.2 System Modeling and Objective
3.2.1 Kinematic Model
3.2.2 The Objective
3.3 Model Transformations
3.4 Stabilization of AMVs with Yaw Constraints
3.4.1 Stabilization with Constant Yaw Constraints
3.5 Stabilization of AMVs with Disturbances
3.5.1 Fixed-Time Observer
3.5.2 Initial States Outside Constraint Regions
3.5.3 Control Algorithm
3.6 Further Discussions
3.6.1 Influence of Disturbance on the Sway
3.6.2 Stabilization with Time-Varying Yaw Constraints
3.7 Numerical Simulations
3.7.1 Stability Analysis
3.7.2 Comparisons
3.7.3 Sway Disturbance
3.8 Conclusion and Future Work
References
Part II Tracking Control
4 Command Filtered Tracking Control of AMVs
4.1 Introduction
4.2 Problem Formulation and Preliminaries
4.2.1 Problem Formulation
4.2.2 Preliminaries
4.3 Main Result
4.3.1 Fixed-Time Based Disturbance Observer Design
4.3.2 Line-of-sight Based Guidance System for Marine Vessels
4.3.3 Design of Path-Tracking Controller
4.3.4 Stability Analysis
4.4 Numerical Simulations
4.5 Conclusion and Future Work
References
5 Command-Filtered Fixed-Time Tracking Control of AMVs
5.1 Introduction
5.2 Problem Formulation and Preliminaries
5.2.1 Problem Formulation
5.2.2 Preliminaries
5.3 Main Results
5.3.1 A Fixed-Time Disturbance Observer
5.3.2 Trajectory Tracking Control Design
5.4 Numerical Simulations
5.5 Conclusion and Future Work
References
Part III Formation Control
6 Command Filtered Finite-Time Formation Control of AMVs with Unknown Control Directions
6.1 Introduction
6.2 Preliminaries and Problem Formulation
6.2.1 Preliminaries
6.2.2 Problem Formulation
6.3 Controller Design and Stability Analysis
6.4 Numerical Simulations
6.5 Conclusion and Future Work
References
7 Velocity Free Formation Control for AMVs with LOS Range and Angle Constraints
7.1 Introduction
7.2 Preliminaries and Problem Formulation
7.2.1 Lemmas and Definitions
7.2.2 Problem Formulation
7.3 Main Results
7.3.1 Leader's Velocity Estimation
7.3.2 Controller Design
7.4 Numerical Simulations
7.5 Conclusion and Future Work
References
8 Prescribed-Time Formation Control of AMVs with LOS Range and Angles Constraints
8.1 Introduction
8.2 Problem Formulation and Preliminaries
8.2.1 Model of the Vessels
8.2.2 Model Transformation
8.2.3 Leader-Follower Formation
8.2.4 Prescribed-Time Control
8.2.5 The Objective
8.3 Main Results
8.4 Numerical Simulations
8.5 Conclusion and Future Work
References
9 Velocity Free Adaptive Fixed-Time Formation Control of AMVs
9.1 Introduction
9.2 Preliminaries and Problem Formulation
9.2.1 Preliminaries
9.2.2 Problem Formulation
9.3 Formation Control with Velocity Measurement
9.4 Formation Controller Without Velocity Measurement
9.4.1 Fixed-Time Velocity Observer
9.4.2 Fixed-Time Control with Velocity Observer
9.5 Numerical Simulations
9.5.1 State Feedback Formation Control
9.5.2 Observer-Based Formation Control
9.5.3 Demonstration in the MSS Simulator
9.6 Conclusion and Future Work
References
