Stabilization, tracking and formation control of autonomous marine vessels / / Ge Guo, Zhenyu Gao and Pengfei Zhang

• Autore: Guo Ge (Of Dongbei da xue (1993))
• Pubblicazione: Singapore : , : Springer, , [2021]; ©2021
• Descrizione fisica: 1 online resource (244 pages)
• Disciplina: 623.8257
• Soggetto topico: Autonomous underwater vehicles; Autonomous underwater vehicles - Dynamics
• Persona (resp. second.): GaoZhenyu <active 2015->; ZhangPengfei <active 2020->
• Nota di contenuto: Intro -- Preface -- Acknowledgements -- Contents -- Part I Stabilization Control -- 1 Fixed-Time Stabilization Control of AMVs with Actuator Dead-Zones -- 1.1 Introduction -- 1.2 System Modeling and Preliminaries -- 1.2.1 Dynamic and Kinematic Model -- 1.2.2 The Objective -- 1.2.3 Preliminaries -- 1.3 Model Transformation -- 1.4 Fixed-Time Controller Design -- 1.4.1 Switching Scheme -- 1.4.2 Fixed-Time Control Law -- 1.4.3 Control Algorithm -- 1.5 Numerical Simulations -- 1.5.1 Stability Analysis -- 1.5.2 Comparisons -- 1.6 Conclusion and Future Work -- References -- 2 Stabilization Control of AMVs Under Mismatched Disturbance -- 2.1 Introduction -- 2.2 Problem Statements and Preliminaries -- 2.2.1 Modeling -- 2.2.2 The Objective -- 2.3 Fixed-Time Disturbance Observers -- 2.4 Stabilization of AMVs -- 2.4.1 Stabilization of Horizontal Subsystem -- 2.4.2 Control Law Design -- 2.4.3 Stability Analysis -- 2.4.4 Control Algorithm -- 2.5 Numerical Simulations -- 2.5.1 Stability Analysis -- 2.5.2 Estimation Error -- 2.5.3 Comparisons -- 2.6 Conclusion and Future Work -- References -- 3 Asymptotic Stabilization of AMVs with Actuator Dead-Zones and Yaw Constraints -- 3.1 Introduction -- 3.2 System Modeling and Objective -- 3.2.1 Kinematic Model -- 3.2.2 The Objective -- 3.3 Model Transformations -- 3.4 Stabilization of AMVs with Yaw Constraints -- 3.4.1 Stabilization with Constant Yaw Constraints -- 3.5 Stabilization of AMVs with Disturbances -- 3.5.1 Fixed-Time Observer -- 3.5.2 Initial States Outside Constraint Regions -- 3.5.3 Control Algorithm -- 3.6 Further Discussions -- 3.6.1 Influence of Disturbance on the Sway -- 3.6.2 Stabilization with Time-Varying Yaw Constraints -- 3.7 Numerical Simulations -- 3.7.1 Stability Analysis -- 3.7.2 Comparisons -- 3.7.3 Sway Disturbance -- 3.8 Conclusion and Future Work -- References -- Part II Tracking Control. ; 4 Command Filtered Tracking Control of AMVs -- 4.1 Introduction -- 4.2 Problem Formulation and Preliminaries -- 4.2.1 Problem Formulation -- 4.2.2 Preliminaries -- 4.3 Main Result -- 4.3.1 Fixed-Time Based Disturbance Observer Design -- 4.3.2 Line-of-sight Based Guidance System for Marine Vessels -- 4.3.3 Design of Path-Tracking Controller -- 4.3.4 Stability Analysis -- 4.4 Numerical Simulations -- 4.5 Conclusion and Future Work -- References -- 5 Command-Filtered Fixed-Time Tracking Control of AMVs -- 5.1 Introduction -- 5.2 Problem Formulation and Preliminaries -- 5.2.1 Problem Formulation -- 5.2.2 Preliminaries -- 5.3 Main Results -- 5.3.1 A Fixed-Time Disturbance Observer -- 5.3.2 Trajectory Tracking Control Design -- 5.4 Numerical Simulations -- 5.5 Conclusion and Future Work -- References -- Part III Formation Control -- 6 Command Filtered Finite-Time Formation Control of AMVs with Unknown Control Directions -- 6.1 Introduction -- 6.2 Preliminaries and Problem Formulation -- 6.2.1 Preliminaries -- 6.2.2 Problem Formulation -- 6.3 Controller Design and Stability Analysis -- 6.4 Numerical Simulations -- 6.5 Conclusion and Future Work -- References -- 7 Velocity Free Formation Control for AMVs with LOS Range and Angle Constraints -- 7.1 Introduction -- 7.2 Preliminaries and Problem Formulation -- 7.2.1 Lemmas and Definitions -- 7.2.2 Problem Formulation -- 7.3 Main Results -- 7.3.1 Leader's Velocity Estimation -- 7.3.2 Controller Design -- 7.4 Numerical Simulations -- 7.5 Conclusion and Future Work -- References -- 8 Prescribed-Time Formation Control of AMVs with LOS Range and Angles Constraints -- 8.1 Introduction -- 8.2 Problem Formulation and Preliminaries -- 8.2.1 Model of the Vessels -- 8.2.2 Model Transformation -- 8.2.3 Leader-Follower Formation -- 8.2.4 Prescribed-Time Control -- 8.2.5 The Objective -- 8.3 Main Results. ; 8.4 Numerical Simulations -- 8.5 Conclusion and Future Work -- References -- 9 Velocity Free Adaptive Fixed-Time Formation Control of AMVs -- 9.1 Introduction -- 9.2 Preliminaries and Problem Formulation -- 9.2.1 Preliminaries -- 9.2.2 Problem Formulation -- 9.3 Formation Control with Velocity Measurement -- 9.4 Formation Controller Without Velocity Measurement -- 9.4.1 Fixed-Time Velocity Observer -- 9.4.2 Fixed-Time Control with Velocity Observer -- 9.5 Numerical Simulations -- 9.5.1 State Feedback Formation Control -- 9.5.2 Observer-Based Formation Control -- 9.5.3 Demonstration in the MSS Simulator -- 9.6 Conclusion and Future Work -- References.
• Titolo autorizzato: Stabilization, tracking and formation control of autonomous marine vessels
• ISBN: 981-16-8108-2; 981-16-8109-0
• Formato: Materiale a stampa
• Livello bibliografico: Monografia
• Lingua di pubblicazione: Inglese
• Record Nr.: 9910743245003321
• Lo trovi qui: Univ. Federico II