Dynamic positioning for an underactuated marine vehicle using hybrid control

International Journal of Control

Volumn 87, Issue 2, 2014, Pages 264-280

  Panagou, Dimitra ^a   Kyriakopoulos, Kostas J ^b  

^a University of Illinois at Urbana Champaign   (United States)

^b NATIONAL TECHNICAL UNIVERSITY OF ATHENS   (Greece)

Author keywords

Dynamic positioning; External disturbances; Hybrid control; Logic based switching; underactuatedmarine vehicles

Indexed keywords

CURRENT DISTURBANCES; ENVIRONMENTAL DISTURBANCES; EXTERNAL DISTURBANCES; HYBRID CONTROLS; LOGIC BASED SWITCHING; STATE FEEDBACK CONTROLLER; SYSTEM TRAJECTORY; UNDERWATER VEHICLES;

AUTONOMOUS UNDERWATER VEHICLES; DYNAMIC POSITIONING; FEEDBACK CONTROL; MARINE APPLICATIONS; NONLINEAR CONTROL SYSTEMS; ROBUST CONTROL; STATE FEEDBACK; SWITCHING SYSTEMS;

HYBRID VEHICLES;

EID: 84892870402     PISSN: 00207179     EISSN: 13665820     Source Type: Journal    
DOI: 10.1080/00207179.2013.828853     Document Type: Article

References (36)

1. Aguiar, A.P., Hespanha, J.P., &Pascoal, A.M. (2007). Switched seesaw control for the stabilization of underactuated vehicles. Automatica, 43, 1997-2008.
2. Aguiar, A.P., &Pascoal, A.M. (2001). Regulation of a nonholonomic autonomous underwater vehicle with parametric modeling uncertainty using Lyapunov functions. Proceedings of the 40th IEEE Conference on Decision and Control (pp. 4178-4183), Dec., Orlando, FL, USA.
3. Aguiar, A.P., &Pascoal, A.M. (2002). Global stabilization of an underactuated autonomous underwater vehicle via logicbased switching. Proceedings of the 41st IEEE Conference on Decision and Control (pp. 3267-3272), Dec., Las Vegas, NE, USA.
4. Aguiar, A.P., &Pascoal, A.M. (2007). Dynamic positioning and way-point tracking of underactuated AUVs in the presence of ocean currents. International Journal of Control, 80, 1092-1108.
5. Branicky, M.S. (1998). Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Transactions on Automatic Control, 43, 475-482.
6. Brockett, R.W. (1983). Asymptotic stability and feedback stabilization. In R. Brockett, R. Millman, &H. Sussmann (Eds.), Differential geometric control theory (pp. 181-191). Boston: Birkhauser.
7. Chang, W.J., Chen, G.J., &Yeh, Y.L. (2002). Fuzzy control of dynamic positioning systems for ships. Journal of Marine Science and Technology, 10, 47-53.
8. Cheng, J., Yi, J., &Zhao, D. (2002). Stabilization of an underactuated surface vessel via discontinuous control. Proceedings of the 2007 American Control Conference (pp. 206-211), Jul., NY City, NY, USA.
9. Do,K.D., Jiang, Z.P., Pan, J.,&Nijmeijer, H. (2002).Global output feedback universal controller for the stabilization and tracking of underactuated ODIN-an underwater vehicle. Proceedings of the 41st IEEE Conference on Decision and Control (pp. 504-509), Dec., Las Vegas, NE, USA.
10. Dong, W., &Guo, Y. (2005). Global time-varying stabilization of underactuated surface vessel. IEEE Transactions on Automatic Control, 50, 859-864.
11. Fantoni, I., Lozano, R., Mazenc, F., &Pettersen, K.Y. (2000). Stabilization of a nonlinear underactuated hovercraft. International Journal of Robust and Nonlinear Control, 10, 645-654.
12. Fossen, T.I. (2002). Marine control systems:Guidance, navigation and control of ships, rigs and underwater vehicles. Trondheim: Marine Cybernetics.
13. Ghommam, J., Mnif, F., Benali, A., &Derbel, N. (2006). Asymptotic backstepping stabilization of an underactuated surface vessel. IEEE Transactions on Control Systems Technology, 14, 1150-1157.
14. Greytak, M., &Hover, F. (2008). Underactuated point stabilization using predictive models with application to marine vehicles. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3756-3761), Sep., Nice, France.
15. Khalil, H.K. (2002). Nonlinear systems (3rd ed.). New Jersey: Prentice-Hall Inc.
16. Kim, T., Basar, T., &Ha, I.J. (2002). Asymptotic stabilization of an underactuated surface vessel via logic-based control. Proceedings of the 2002 American Control Conference (pp. 4678-4683), May, Anchorage, AL, USA.
17. LaValle, S.M. (2006). Planning algorithms.NewYork:Cambridge University Press.
18. Liberzon, D. (2003). Switching in systems and control. Boston: Birkhauser.
19. Ma, B. (2009). Global ?-exponential asymptotic stabilization of underactuated surface vessels. Systems and Control Letters, 58, 194-201.
20. Mazenc, F., Pettersen, K., &Nijmeijer, H. (2002). Global uniform asymptotic stabilization of an underactuated surface vessel. IEEE Transactions on Automatic Control, 47, 1759-1762.
21. Nguyen, T.D., Sørensen, A.J., &Quek, S.T. (2007). Design of hybrid controller for dynamic positioning from calm to extreme sea conditions. Automatica, 43, 768-785.
22. Panagou, D., &Kyriakopoulos, K.J. (2011). A switching control approach for the robust practical stabilization of a unicyclelike marine vehicle under non-vanishing perturbations. Proceedings of the 2011 IEEE International Conference on Robotics and Automation (pp. 1525-1530), May, Shanghai, P.R. China.
23. Panagou, D., Tanner, H.G., &Kyriakopoulos, K.J. (2011). Control of nonholonomic systems using reference vector fields. Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference (pp. 2831-2836), Dec., Orlando, Florida.
24. Pereira, A., Das, J., &Sukhatme, G.S. (2008). An experimental study of station keeping on an underactuated ASV. Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3164-3171), Sep., Nice, France.
25. Pettersen, K.Y., &Egeland, O. (1999). Time-varying exponential stabilization of the position and attitude of an underactuated autonomous underwater vehicle. IEEE Transactions on Automatic Control, 44, 112-115.
26. Pettersen,K.Y.,&Fossen, T.I. (2000).Underactuated dynamic positioning of a ship-experimental results. IEEE Transactions on Control Systems Technology, 8, 856-863.
27. Pettersen, K.Y., &Nijmeijer, H. (2001). Semi-global practical stabilization and disturbance adaptation for an underactuated ship. Modeling, Identification and Control, 22, 89-101.
28. Refsnes, J.E., Sorensen, A.J., &Pettersen, K.Y. (2007). Output feedback control of slender body underwater vehicles with current estimation. International Journal of Control, 80, 1136-1150.
29. Refsnes, J.E., Sorensen, A.J., &Pettersen, K.Y. (2008). Modelbased output feedback control of slender-body underactuated AUVs: Theory and experiments. IEEE Transactions on Control and Systems Technology, 16, 930-946.
30. Reyhanoglu, M. (1996). Control and stabilization of an underactuated surface vessel. Proceedings of the 35th IEEE Conference on Decision and Control (pp. 2371-2376), Dec., Kobe, Japan.
31. Sørensen, A.J. (2011). A survey of dynamic positioning control systems. Annual Reviews in Control, 35, 123-136.
32. Sørensen, A.J., Sagatun, S.I., &Fossen, T.I. (1996). Design of a dynamic positioning system using model-based control. Control Engineering Practice, 4, 359-368.
33. Tannuri, E.A., Agostinho, A.C.,Morishita, H.M., &Moratelli, L., Jr. (2010). Dynamic positioning systems: An experimental analysis of sliding mode control. Control Engineering Practice, 18, 1121-1132.
34. Wang, W., &Clark, C.M. (2006). Modeling and simulation of the VideoRay Pro III underwater vehicle. Proceedings of OCEANS 2006-Asia Pacific (pp. 1-7), May, Singapore.
35. Wichlund, K.Y., Sordalen, O.J., &Egeland, O. (1995). Control of vehicles with second-order constraints: Underwater vehicles. Proceedings of the 3rd European Conference on Control (pp. 3086-3091), Sep., Rome, Italy.
36. Zhao, J., &Hill, D.J. (2008). On stability, L2-gain and H? control for switched systems. Automatica, 44, 1220-1232.