Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances
© 2015 Elsevier Ltd. All rights reserved. This paper presents a design of new controllers that force underactuated ships under both deterministic and stochastic sea loads to globally track a reference path. First, the loads are decomposed to a deterministic part treated as unknown constants, and a t...
| Main Author: | |
|---|---|
| Format: | Journal Article |
| Published: |
2016
|
| Online Access: | http://hdl.handle.net/20.500.11937/31924 |
| _version_ | 1848753519579889664 |
|---|---|
| author | Do, Khac Duc |
| author_facet | Do, Khac Duc |
| author_sort | Do, Khac Duc |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | © 2015 Elsevier Ltd. All rights reserved. This paper presents a design of new controllers that force underactuated ships under both deterministic and stochastic sea loads to globally track a reference path. First, the loads are decomposed to a deterministic part treated as unknown constants, and a time-varying part considered as stochastic disturbances with unknown time-varying covariances. Second, the path-tracking errors are represented in a moving frame attached to the path. These errors are then to be stabilized at the origin by a design of controllers based on backstepping and Lyapunov's direct methods. Weak and strong nonlinear Lyapunov functions are introduced, and the path-parameter is used as an additional control input to overcome difficulties caused by underactuation and Hessian terms induced by stochastic differentiation rule. Estimate of the deterministic disturbances and upper covariances of the stochastic disturbances is incorporated in the control design. The effectiveness of the proposed results is illustrated through simulations. |
| first_indexed | 2025-11-14T08:25:48Z |
| format | Journal Article |
| id | curtin-20.500.11937-31924 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T08:25:48Z |
| publishDate | 2016 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-319242017-09-13T15:17:38Z Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances Do, Khac Duc © 2015 Elsevier Ltd. All rights reserved. This paper presents a design of new controllers that force underactuated ships under both deterministic and stochastic sea loads to globally track a reference path. First, the loads are decomposed to a deterministic part treated as unknown constants, and a time-varying part considered as stochastic disturbances with unknown time-varying covariances. Second, the path-tracking errors are represented in a moving frame attached to the path. These errors are then to be stabilized at the origin by a design of controllers based on backstepping and Lyapunov's direct methods. Weak and strong nonlinear Lyapunov functions are introduced, and the path-parameter is used as an additional control input to overcome difficulties caused by underactuation and Hessian terms induced by stochastic differentiation rule. Estimate of the deterministic disturbances and upper covariances of the stochastic disturbances is incorporated in the control design. The effectiveness of the proposed results is illustrated through simulations. 2016 Journal Article http://hdl.handle.net/20.500.11937/31924 10.1016/j.oceaneng.2015.10.038 restricted |
| spellingShingle | Do, Khac Duc Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances |
| title | Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances |
| title_full | Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances |
| title_fullStr | Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances |
| title_full_unstemmed | Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances |
| title_short | Global robust adaptive path-tracking control of underactuated ships under stochastic disturbances |
| title_sort | global robust adaptive path-tracking control of underactuated ships under stochastic disturbances |
| url | http://hdl.handle.net/20.500.11937/31924 |