Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer
This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV). It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2018/3835767 |
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| _version_ | 1849387248071475200 |
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| author | Pengchao Zhang |
| author_facet | Pengchao Zhang |
| author_sort | Pengchao Zhang |
| collection | DOAJ |
| description | This paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV). It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method. The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances. |
| format | Article |
| id | doaj-art-35a332bdac1b4cf5946e1f535cbe50b9 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-35a332bdac1b4cf5946e1f535cbe50b92025-08-20T03:55:16ZengWileyJournal of Robotics1687-96001687-96192018-01-01201810.1155/2018/38357673835767Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance ObserverPengchao Zhang0Key Laboratory of Industrial Automation of Shaanxi Province, Shaanxi University of Technology, Hanzhong, Shaanxi 723000, ChinaThis paper presents a dynamic surface adaptive robust control method with disturbance observer for unmanned marine vehicles (UMV). It uses adaptive law to estimate and compensate the disturbance observer error. Dynamic surface is introduced to solve the “differential explosion” caused by the virtual control derivation in traditional backstepping method. The final controlled system is proved to be globally uniformly bounded based on Lyapunov stability theory. Simulation results illustrate the effectiveness of the proposed controller, which can realize the three-dimensional trajectory tracking for UMV with the systematic uncertainty and time-varying disturbances.http://dx.doi.org/10.1155/2018/3835767 |
| spellingShingle | Pengchao Zhang Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer Journal of Robotics |
| title | Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer |
| title_full | Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer |
| title_fullStr | Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer |
| title_full_unstemmed | Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer |
| title_short | Dynamic Surface Adaptive Robust Control of Unmanned Marine Vehicles with Disturbance Observer |
| title_sort | dynamic surface adaptive robust control of unmanned marine vehicles with disturbance observer |
| url | http://dx.doi.org/10.1155/2018/3835767 |
| work_keys_str_mv | AT pengchaozhang dynamicsurfaceadaptiverobustcontrolofunmannedmarinevehicleswithdisturbanceobserver |