Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty

Jawhar Ghommam, Faiçal Mnif

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This chapter considers the problem of path-following control of autonomous surface vessels in the presence of ocean currents and parametric model uncertainty. The problem at hand consists of steering a vehicle surface ship along a geometric path with a desired speed profile. The Lyapunov technique is used to derive a robust architecture. To ensure path-following of the surface vessel, robust controller is designed based on adaptive sliding mode control in combination with the radial basis function neural network (RBFNN) to suppress the effect of parameter variations and external disturbances. Closed-loop tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control algorithm attains a satisfied performance and is robust against parameter variations and external disturbances.

Original languageEnglish
Title of host publicationStudies in Systems, Decision and Control
PublisherSpringer International Publishing
Pages119-134
Number of pages16
Volume79
DOIs
Publication statusPublished - 2017

Publication series

NameStudies in Systems, Decision and Control
Volume79
ISSN (Print)2198-4182
ISSN (Electronic)2198-4190

Fingerprint

Ocean currents
Parametric Uncertainty
Model Uncertainty
Parametric Model
Ocean
Vessel
Path Following
uncertainty
Disturbance
Adaptive Sliding Mode Control
Radial Basis Function Neural Network
Sliding mode control
Asymptotically Stable
Ship
neural network
Lyapunov
Closed-loop
Control Algorithm
Ships
Neural networks

Keywords

  • Backstepping design
  • Distributed sliding motion control
  • Path following
  • Radial basis function neural network (RBFNN)
  • Surface vessels

ASJC Scopus subject areas

  • Computer Science (miscellaneous)
  • Decision Sciences (miscellaneous)
  • Economics, Econometrics and Finance (miscellaneous)
  • Automotive Engineering
  • Control and Systems Engineering
  • Control and Optimization
  • Social Sciences (miscellaneous)

Cite this

Ghommam, J., & Mnif, F. (2017). Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty. In Studies in Systems, Decision and Control (Vol. 79, pp. 119-134). (Studies in Systems, Decision and Control; Vol. 79). Springer International Publishing. https://doi.org/10.1007/978-981-10-2374-3_7

Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty. / Ghommam, Jawhar; Mnif, Faiçal.

Studies in Systems, Decision and Control. Vol. 79 Springer International Publishing, 2017. p. 119-134 (Studies in Systems, Decision and Control; Vol. 79).

Research output: Chapter in Book/Report/Conference proceedingChapter

Ghommam, J & Mnif, F 2017, Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty. in Studies in Systems, Decision and Control. vol. 79, Studies in Systems, Decision and Control, vol. 79, Springer International Publishing, pp. 119-134. https://doi.org/10.1007/978-981-10-2374-3_7
Ghommam J, Mnif F. Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty. In Studies in Systems, Decision and Control. Vol. 79. Springer International Publishing. 2017. p. 119-134. (Studies in Systems, Decision and Control). https://doi.org/10.1007/978-981-10-2374-3_7
Ghommam, Jawhar ; Mnif, Faiçal. / Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty. Studies in Systems, Decision and Control. Vol. 79 Springer International Publishing, 2017. pp. 119-134 (Studies in Systems, Decision and Control).
@inbook{bf2af667eca245929f95980698ae6e19,
title = "Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty",
abstract = "This chapter considers the problem of path-following control of autonomous surface vessels in the presence of ocean currents and parametric model uncertainty. The problem at hand consists of steering a vehicle surface ship along a geometric path with a desired speed profile. The Lyapunov technique is used to derive a robust architecture. To ensure path-following of the surface vessel, robust controller is designed based on adaptive sliding mode control in combination with the radial basis function neural network (RBFNN) to suppress the effect of parameter variations and external disturbances. Closed-loop tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control algorithm attains a satisfied performance and is robust against parameter variations and external disturbances.",
keywords = "Backstepping design, Distributed sliding motion control, Path following, Radial basis function neural network (RBFNN), Surface vessels",
author = "Jawhar Ghommam and Fai{\cc}al Mnif",
year = "2017",
doi = "10.1007/978-981-10-2374-3_7",
language = "English",
volume = "79",
series = "Studies in Systems, Decision and Control",
publisher = "Springer International Publishing",
pages = "119--134",
booktitle = "Studies in Systems, Decision and Control",

}

TY - CHAP

T1 - Robust adaptive manoeuvering control of an autonomous surface vessel in the presence of ocean currents and parametric model uncertainty

AU - Ghommam, Jawhar

AU - Mnif, Faiçal

PY - 2017

Y1 - 2017

N2 - This chapter considers the problem of path-following control of autonomous surface vessels in the presence of ocean currents and parametric model uncertainty. The problem at hand consists of steering a vehicle surface ship along a geometric path with a desired speed profile. The Lyapunov technique is used to derive a robust architecture. To ensure path-following of the surface vessel, robust controller is designed based on adaptive sliding mode control in combination with the radial basis function neural network (RBFNN) to suppress the effect of parameter variations and external disturbances. Closed-loop tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control algorithm attains a satisfied performance and is robust against parameter variations and external disturbances.

AB - This chapter considers the problem of path-following control of autonomous surface vessels in the presence of ocean currents and parametric model uncertainty. The problem at hand consists of steering a vehicle surface ship along a geometric path with a desired speed profile. The Lyapunov technique is used to derive a robust architecture. To ensure path-following of the surface vessel, robust controller is designed based on adaptive sliding mode control in combination with the radial basis function neural network (RBFNN) to suppress the effect of parameter variations and external disturbances. Closed-loop tracking errors are shown to be asymptotically stable. Simulation results show that the proposed control algorithm attains a satisfied performance and is robust against parameter variations and external disturbances.

KW - Backstepping design

KW - Distributed sliding motion control

KW - Path following

KW - Radial basis function neural network (RBFNN)

KW - Surface vessels

UR - http://www.scopus.com/inward/record.url?scp=85029083378&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85029083378&partnerID=8YFLogxK

U2 - 10.1007/978-981-10-2374-3_7

DO - 10.1007/978-981-10-2374-3_7

M3 - Chapter

AN - SCOPUS:85029083378

VL - 79

T3 - Studies in Systems, Decision and Control

SP - 119

EP - 134

BT - Studies in Systems, Decision and Control

PB - Springer International Publishing

ER -