Adaptive control of unmanned surface vessels matching an optimized reference model

Chenguang Yang; Rongxin Cui; Zhijun Li; Sanjay Sharma; Xingang Zhao

doi:10.1109/ROBIO.2014.7090669

Adaptive control of unmanned surface vessels matching an optimized reference model

Chenguang Yang
, Rongxin Cui
, Zhijun Li
, Sanjay Sharma
, Xingang Zhao

School of Marine Science and Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.

Original language	English
Title of host publication	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2232-2237
Number of pages	6
ISBN (Electronic)	9781479973965
DOIs	https://doi.org/10.1109/ROBIO.2014.7090669
State	Published - 20 Apr 2014
Event	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 - Bali, Indonesia Duration: 5 Dec 2014 → 10 Dec 2014

Publication series

Name	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

Conference

Conference	2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014
Country/Territory	Indonesia
City	Bali
Period	5/12/14 → 10/12/14

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 14 Life Below Water

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10.1109/ROBIO.2014.7090669

Cite this

Yang, C., Cui, R., Li, Z., Sharma, S., & Zhao, X. (2014). Adaptive control of unmanned surface vessels matching an optimized reference model. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 (pp. 2232-2237). Article 7090669 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2014.7090669

Yang, Chenguang ; Cui, Rongxin ; Li, Zhijun et al. / Adaptive control of unmanned surface vessels matching an optimized reference model. 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2232-2237 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

@inproceedings{ca9467da4c1742f899ce6eebeecaba39,

title = "Adaptive control of unmanned surface vessels matching an optimized reference model",

abstract = "In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.",

author = "Chenguang Yang and Rongxin Cui and Zhijun Li and Sanjay Sharma and Xingang Zhao",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014 ; Conference date: 05-12-2014 Through 10-12-2014",

year = "2014",

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day = "20",

doi = "10.1109/ROBIO.2014.7090669",

language = "英语",

series = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

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booktitle = "2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014",

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Yang, C, Cui, R, Li, Z, Sharma, S & Zhao, X 2014, Adaptive control of unmanned surface vessels matching an optimized reference model. in 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014., 7090669, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Institute of Electrical and Electronics Engineers Inc., pp. 2232-2237, 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014, Bali, Indonesia, 5/12/14. https://doi.org/10.1109/ROBIO.2014.7090669

Adaptive control of unmanned surface vessels matching an optimized reference model. / Yang, Chenguang; Cui, Rongxin; Li, Zhijun et al.
2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2232-2237 7090669 (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Adaptive control of unmanned surface vessels matching an optimized reference model

AU - Yang, Chenguang

AU - Cui, Rongxin

AU - Li, Zhijun

AU - Sharma, Sanjay

AU - Zhao, Xingang

PY - 2014/4/20

Y1 - 2014/4/20

N2 - In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.

AB - In this paper, adaptive control of unmanned marine surface vessel has been investigated in the presence of uncertain dynamics as well as external disturbance. Variable structure technique has been utilized in the control design to make the dynamic response and desired motion tracking as quickly as possible. In practice, usually the desired trajectories are given as step points, such that direct immediate tracking would cause large acceleration and huge control effort, while the latter may be out of the actuators' limitation. Therefore, a reference model approach is employed, such that instead of direct tracking of the desired set point, the control objective becomes to shape the closed-loop dynamics to match a reference model. The reference model is built using optimization technique which tries to minimizes both tracking error and motion acceleration, and subsequently control effort. The smooth tracking is thus guaranteed in an optimal manner.

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M3 - 会议稿件

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BT - 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014

PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Yang C, Cui R, Li Z, Sharma S, Zhao X. Adaptive control of unmanned surface vessels matching an optimized reference model. In 2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2232-2237. 7090669. (2014 IEEE International Conference on Robotics and Biomimetics, IEEE ROBIO 2014). doi: 10.1109/ROBIO.2014.7090669

Adaptive control of unmanned surface vessels matching an optimized reference model

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