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Differential Flatness Based Unmanned Surface Vehicle Control: Planning and Conditional Disturbance-Compensation

文献类型：期刊论文

作者Fang, Xing4; Zhang, Chengxu4; Zhang, Chengxi4; Lu, Yu3; Xu, Gaofei2; Shang, Yujia1
刊名SYMMETRY-BASEL
出版日期2024-09-01
卷号16期号:9页码:23
关键词symmetrical unmanned surface vehicle differential flatness conditional disturbance compensation continuous disturbance characterization index trajectory planning
DOI10.3390/sym16091118
英文摘要To achieve precise control of the symmetrical unmanned surface vehicle (USV) under strong external disturbances, we propose a disturbance estimation and conditional disturbance compensation control (CDCC) scheme. First, the differential flatness method is applied to convert the underactuated model into a fully actuated one, simplifying the controller design. Then, a nonlinear disturbance observer (NDOB) is designed to estimate the lumped disturbance. Subsequently, a continuous disturbance characterization index (CDCI) is proposed, which not only indicates whether the disturbance is beneficial to the system stability but also makes the controller switch smoothly and suppresses the chattering phenomenon greatly. Indicated by the CDCI, the proposed CDCC method can not only utilize the beneficial disturbance but also compensate for the detrimental disturbance, which improves the USV's control performance under strong external disturbances. Moreover, a trajectory-planning method is designed to generate an obstacle avoidance reference trajectory for the controller. Finally, simulations verify the feasibility of applying the proposed control method to USV.
WOS关键词TRAJECTORY TRACKING
资助项目Ministry of Education Equipment Development Fund ; National Natural Science Foundation of China[62273165] ; China Postdoctoral Science Foundation[2023T160493] ; China Postdoctoral Science Foundation[2021M702505] ; [8091B032259]
WOS研究方向Science & Technology - Other Topics
语种英语
WOS记录号WOS:001323212500001
出版者MDPI
资助机构Ministry of Education Equipment Development Fund ; National Natural Science Foundation of China ; China Postdoctoral Science Foundation
源URL[http://ir.idsse.ac.cn/handle/183446/11580]  
专题深海工程技术部_深海信息技术研究室
通讯作者Fang, Xing
作者单位1.Instrumentat Technol & Econ Inst, 397A Guanganmenwai St, Beijing 100054, Peoples R China
2.Chinese Acad Sci, Inst Deep Sea Sci & Engn, 28 Luhuitou Rd, Sanya 572000, Peoples R China
3.Nanjing Univ Sci & Technol, Sch Energy & Power Engn, Nanjing 210094, Peoples R China
4.Jiangnan Univ, Inst Automat, Key Lab Adv Proc Control Light Ind, Minist Educ, Wuxi 214000, Peoples R China
推荐引用方式
GB/T 7714		 Fang, Xing,Zhang, Chengxu,Zhang, Chengxi,et al. Differential Flatness Based Unmanned Surface Vehicle Control: Planning and Conditional Disturbance-Compensation[J]. SYMMETRY-BASEL,2024,16(9):23.
APA Fang, Xing,Zhang, Chengxu,Zhang, Chengxi,Lu, Yu,Xu, Gaofei,&Shang, Yujia.(2024).Differential Flatness Based Unmanned Surface Vehicle Control: Planning and Conditional Disturbance-Compensation.SYMMETRY-BASEL,16(9),23.
MLA Fang, Xing,et al."Differential Flatness Based Unmanned Surface Vehicle Control: Planning and Conditional Disturbance-Compensation".SYMMETRY-BASEL 16.9(2024):23.

入库方式： OAI收割

来源：深海科学与工程研究所

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