Hierarchical Robust Path Following Control of Fully Submerged Hydrofoil Vessels
نویسندگان
چکیده
منابع مشابه
Synthesis of the Longitudinal Control System of a Fully Submerged Hydrofoil Craft with an Auto-Pilot
Speaking of a fully submerged hydrofoil craft, all the hydrofoils attached to the foilstruts of the craft body are fully submerged in the water, so that the disturbing wave forces acting on the hydrofoils are very small in their foilborne cruising compared with the forces on the surface piercing hydrofoils. Therefore, the fully submerged hydrofoil craft gives us a very comfortable riding. On th...
متن کاملPath-following Control of Fully-actuated Surface Vessels in the Presence of Ocean Currents
This paper addresses the problem of driving a surface vessel along a desired spatial path. A nonlinear adaptive controller is designed that yields convergence of the trajectories of the closed loop system to the path in the presence of constant unknown ocean currents and parametric model uncertainty. Controller design builds on Lyapunov based techniques and backstepping. The controller derived ...
متن کاملBackward and forward path following control of a wheeled robot
A wheeled mobile robot is one of the most important types of mobile robots. A subcategory of these robots is wheeled robots towing trailer(s). Motion control problem, especially in backward motion is one of the challenging research topics in this field. In this article, a control algorithm for path-following problem of a tractor-trailer system is provided, which at the same time provides the ab...
متن کاملPath following and Stabilization of Underactuated Surface Vessels Based on Adaptive Hierarchical Sliding Mode
Path following of underactuated surface vessels is important practice in ship motion control field. Some of current studies have restrictions on forms of desired trajectory of which straight line or sinusoid curve was excluded. In this paper, adaptive robust controllers for path following of underactuated surface vessels are proposed based on hierarchical sliding mode method which suits various...
متن کاملDesign, analysis and experimental validation of a robust nonlinear path following controller for marine surface vessels
The problemof path following formarine surface vessels using the rudder angle is addressed in this paper. A four-degree-of-freedom nonlinear surface vessel model, together with the Serret–Frenet equations, is introduced to describe the ship dynamics and path following error dynamics. While similar models have been used and reported in the literature for path following control algorithm developm...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Access
سال: 2017
ISSN: 2169-3536
DOI: 10.1109/access.2017.2756852