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Model Predictive Super-Twisting Sliding Mode Control for An Autonomous Surface Vehicle

Abstrakt

This paper presents a new robust Model Predictive Control (MPC) algorithm for trajectory tracking of an Autonomous Surface Vehicle (ASV) in presence of the time-varying external disturbances including winds, waves and ocean currents as well as dynamical uncertainties. For fulfilling the robustness property, a sliding mode control-based procedure for designing of MPC and a super-twisting term are adopted. The MPC algorithm has been known as an effective approach for the implementation simplicity and its fast dynamic response. The proposed hybrid controller has been implemented in MATLAB / Simulink environment. The results for the combined Model Predictive Super-Twisting Sliding Mode Control (MP-STSMC) algorithm have shown that it significantly outperforms conventional MPC algorithm in terms of the transient response, robustness and steady state response and presents an effective chattering attenuation in comparison with the Super-Twisting Sliding Mode Control (STSMC) algorithm.

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Creative Commons: CC-BY-NC-ND otwiera się w nowej karcie

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Kategoria:
Publikacja w czasopiśmie
Typ:
artykuły w czasopismach
Opublikowano w:
Polish Maritime Research nr 26, strony 163 - 171,
ISSN: 1233-2585
Język:
angielski
Rok wydania:
2019
Opis bibliograficzny:
Nejatbakhsh Esfahani H., Szłapczyński R.: Model Predictive Super-Twisting Sliding Mode Control for An Autonomous Surface Vehicle// Polish Maritime Research -Vol. 26,iss. 3 (2019), s.163-171
DOI:
Cyfrowy identyfikator dokumentu elektronicznego (otwiera się w nowej karcie) 10.2478/pomr-2019-0057
Bibliografia: test
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  5. Liu, J., Luo, J., Cui, J., Peng, Y.: Trajectory Tracking Control of Underactuated USV with Model Perturbation and External Interference. Procedings of the 3rd International Conference on Mechanics and Mechatronics Research (ICMMR 2016). Chongqing, China , 2016. DOI: 10.1051/ matecconf/20167709009. otwiera się w nowej karcie
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  9. Yi, B., Qiao, L., Zhang, W.: Two-time scale path following of underactuated marine surface vessels : Design and stability analysis using singular perturbation methods. Ocean Eng., Vol. 124, (2016) , pp. 287-297. otwiera się w nowej karcie
  10. Valenciaga, F.: A second order sliding mode path following control for autonomous surface vessels. Asian Journal Control, vol. 16(5), (2014), pp. 1515-1521. otwiera się w nowej karcie
  11. Tanakitkorn, K., Phillips, A.B., Wilson, P.A., Turnock, S.R. : Sliding mode heading control of an overactuated hover- capable autonomous underwater vehicle with experimental verification. Journal of Field Robotics, vol. 35(3), (2017), pp. 396-415. otwiera się w nowej karcie
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  13. Jamalzade, M.S., Koofigar, H.R., Ataei, M.: Adaptive fuzzy control for a class of constrained nonlinear systems with application to a surface vessel. Journal of Theoretical and Applied Mechanics, vol. 54(3), (2016), pp. 987-1000. otwiera się w nowej karcie
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Źródła finansowania:
  • Działalność statutowa/subwencja
Weryfikacja:
Politechnika Gdańska

wyświetlono 230 razy

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