Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs)
This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator (ODIN) under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle’s steer...
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| Format: | Journal Article |
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Harbin Engineering University
2015
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| Online Access: | http://hdl.handle.net/20.500.11937/12952 |
| _version_ | 1848748218775502848 |
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| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator (ODIN) under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle’s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov’s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results. |
| first_indexed | 2025-11-14T07:01:33Z |
| format | Journal Article |
| id | curtin-20.500.11937-12952 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:01:33Z |
| publishDate | 2015 |
| publisher | Harbin Engineering University |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-129522017-09-13T15:01:02Z Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs) Do, Khac Duc This paper presents a design of optimal controllers with respect to a meaningful cost function to force an underactuated omni-directional intelligent navigator (ODIN) under unknown constant environmental loads to track a reference trajectory in two-dimensional space. Motivated by the vehicle’s steering practice, the yaw angle regarded as a virtual control plus the surge thrust force are used to force the position of the vehicle to globally track its reference trajectory. The control design is based on several recent results developed for inverse optimal control and stability analysis of nonlinear systems, a new design of bounded disturbance observers, and backstepping and Lyapunov’s direct methods. Both state- and output-feedback control designs are addressed. Simulations are included to illustrate the effectiveness of the proposed results. 2015 Journal Article http://hdl.handle.net/20.500.11937/12952 10.1007/s11804-015-1288-8 Harbin Engineering University restricted |
| spellingShingle | Do, Khac Duc Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs) |
| title | Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs) |
| title_full | Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs) |
| title_fullStr | Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs) |
| title_full_unstemmed | Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs) |
| title_short | Global inverse optimal tracking control of underactuated omni-directional intelligent navigators (ODINs) |
| title_sort | global inverse optimal tracking control of underactuated omni-directional intelligent navigators (odins) |
| url | http://hdl.handle.net/20.500.11937/12952 |