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Article

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Title

A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles

Authors

[ 1 ] Instytut Automatyki i Robotyki, Wydział Automatyki, Robotyki i Elektrotechniki, Politechnika Poznańska | [ P ] employee

Scientific discipline (Law 2.0)

[2.2] Automation, electronics and electrical engineering

Year of publication

2022

Published in

Applied Sciences

Journal year: 2022 | Journal volume: vol. 12 | Journal number: iss. 17

Article type

scientific article

Publication language

english

Keywords
EN
  • underactuated marine vehicle
  • trajectory tracking
  • backstepping
  • integral sliding mode control
  • robustness
  • velocity transformation
  • quasi-velocities
  • simulation
Abstract

EN This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, for which a model is expressed in terms of quasi-velocities arising from the inertia matrix decomposition. The control approach takes into account non-modeled dynamics and external disturbances and is suitable for symmetric vehicles. It is shown that such systems can be diagonalized using inertial quasi-velocities (IQVs). The strategy consists of the velocity controller and two adaptive integral sliding mode control algorithms. The proposed approach, introducing velocity transformation and using backstepping methods and integral sliding mode control, allows trajectory tracking for vehicles in described models with symmetric inertia matrix. Proof of the stability of the closed system was carried out using IQV. The proposed scheme has been verified on two 3 DOF models of underwater vehicles with thruster limitations. A brief discussion of the results is also given.

Date of online publication

05.09.2022

Pages (from - to)

8903-1 - 8903-25

DOI

10.3390/app12178903

URL

https://www.mdpi.com/2076-3417/12/17/8903

Comments

Article Number: 8903

License type

CC BY (attribution alone)

Open Access Mode

open journal

Open Access Text Version

final published version

Date of Open Access to the publication

at the time of publication

Ministry points / journal

100

Impact Factor

2,7

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