Backstepping technique for tracking control of an underactuated surface vessel with unmeasured thrus

Jawhar Ghommam; Faical Mnif; K. A. El-Metwally

doi:10.3182/20080706-5-KR-1001.3119

Backstepping technique for tracking control of an underactuated surface vessel with unmeasured thrus

Jawhar Ghommam, Faical Mnif, K. A. El-Metwally

Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

We consider in this paper the tracking control problem of an underactuated surface vessel moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the surface vessel is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error cascade structure. The proposed controller is designed using Lyapunovs direct method and the popular backstepping techniques are utilized to stabilize the above system and force the tracking error to globally exponentially stabilized to the origin. Extension to unmeasured thruster dynamics is also considered. Simulation results that validate the proposed tracking methodology are presented and discussed.

Original language	English
Title of host publication	Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC
Volume	17
Edition	1 PART 1
DOIs	https://doi.org/10.3182/20080706-5-KR-1001.3119
Publication status	Published - 2008
Event	17th World Congress, International Federation of Automatic Control, IFAC - Seoul, Korea, Republic of Duration: Jul 6 2008 → Jul 11 2008

Other

Other	17th World Congress, International Federation of Automatic Control, IFAC
Country	Korea, Republic of
City	Seoul
Period	7/6/08 → 7/11/08

Keywords

Autonomous robotic systems
Guidance navigation and control
Mobile robots

ASJC Scopus subject areas

Control and Systems Engineering

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Ghommam, J, Mnif, F & El-Metwally, KA 2008, Backstepping technique for tracking control of an underactuated surface vessel with unmeasured thrus. in Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC. 1 PART 1 edn, vol. 17, 17th World Congress, International Federation of Automatic Control, IFAC, Seoul, Korea, Republic of, 7/6/08. https://doi.org/10.3182/20080706-5-KR-1001.3119

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abstract = "We consider in this paper the tracking control problem of an underactuated surface vessel moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the surface vessel is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error cascade structure. The proposed controller is designed using Lyapunovs direct method and the popular backstepping techniques are utilized to stabilize the above system and force the tracking error to globally exponentially stabilized to the origin. Extension to unmeasured thruster dynamics is also considered. Simulation results that validate the proposed tracking methodology are presented and discussed.",

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AU - El-Metwally, K. A.

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Y1 - 2008

N2 - We consider in this paper the tracking control problem of an underactuated surface vessel moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the surface vessel is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error cascade structure. The proposed controller is designed using Lyapunovs direct method and the popular backstepping techniques are utilized to stabilize the above system and force the tracking error to globally exponentially stabilized to the origin. Extension to unmeasured thruster dynamics is also considered. Simulation results that validate the proposed tracking methodology are presented and discussed.

AB - We consider in this paper the tracking control problem of an underactuated surface vessel moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the surface vessel is planned so that it is consistent with vehicle dynamics. Using these reference values the dynamics of the vehicle is transformed to the error cascade structure. The proposed controller is designed using Lyapunovs direct method and the popular backstepping techniques are utilized to stabilize the above system and force the tracking error to globally exponentially stabilized to the origin. Extension to unmeasured thruster dynamics is also considered. Simulation results that validate the proposed tracking methodology are presented and discussed.

KW - Autonomous robotic systems

KW - Guidance navigation and control

KW - Mobile robots

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DO - 10.3182/20080706-5-KR-1001.3119

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AN - SCOPUS:79961018161

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BT - Proceedings of the 17th World Congress, International Federation of Automatic Control, IFAC

T2 - 17th World Congress, International Federation of Automatic Control, IFAC

Y2 - 6 July 2008 through 11 July 2008

ER -

Backstepping technique for tracking control of an underactuated surface vessel with unmeasured thrus

Abstract

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Keywords

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