Robust command filtered control for course tracking of ships under actuator dynamics with input magnitude and rate saturation

This article investigates the course tracking of ships subject to parametric uncertainties and environmental disturbances. Particularly, the actuator dynamics with input magnitude and rate saturation is also considered. When including the actuator dynamics, the ship course tracking system becomes a mismatching system, which brings a great difficulty to the control design. A novel robust command filtered control strategy is presented by incorporating a disturbance observer and an auxiliary anti-saturation system into the command filtered backstepping control architecture. The disturbance observer is designed to compensate for the mismatched lumped disturbance. The auxiliary anti-saturation system is introduced to tackle the effects of input magnitude and rate saturation. It is strictly proved that all the closed-loop error signals under the proposed controller are uniformly ultimately bounded and the course angle tracking error can converge to the adjustable small region around the origin. Moreover, the proposed controller is computationally simple and has the strong robustness against uncertainties and disturbances. The effectiveness and advantages of the proposed control strategy are verified through simulations and comparisons.

• Record URL:
  • https://doi.org/10.1177/14750902211052221
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/14750902
• Supplemental Notes:
  • © IMechE 2021.
• Authors:
  • Yao, Qijia
  • 0000-0001-7902-407X
• Publication Date: 2022-8

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 789-799
• Serial:
  • Proceedings of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the Maritime Environment
  • Volume: 236
  • Issue Number: 3
  • Publisher: Sage Publications, Incorporated
  • ISSN: 1475-0902
  • EISSN: 2041-3084
  • Serial URL: http://pim.sagepub.com/

Subject/Index Terms

• TRT Terms: Actuators; Feedback control; Ships; Tracking systems
• Subject Areas: Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01856986
• Record Type: Publication
• Files: TRIS
• Created Date: Aug 31 2022 9:20AM