Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles

• Tipo: Artigo em Livro de Atas de Conferência Internacional
• Data: 2024

Autores

Nazmara, GR (Autor) Outra; Aguiar, AP (Autor) FEUP

Ata de Conferência Internacional

Título: ROBOT 2023: SIXTH IBERIAN ROBOTICS CONFERENCE, VOL 2

Páginas: 174-185

6th Iberian Robotics Conference (Robot)

Coimbra, PORTUGAL, NOV 22-24, 2023

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-010-EZF

DOI: 10.1007/978-3-031-59167-9_15

Abstract (EN): This paper focuses on the development of an adaptive back-stepping control for underactuated marine vehicles. In order to estimate system uncertainty, a fuzzy system with a simple structure is utilized. A novel dynamical formulation has been developed for deriving the control signal. The Lyapunov function has been employed to formally prove the Semi-globally Practically Finite-time Stability of the overall closed loop system. Simulations are conducted on an underactuated marine vehicle to assess the effectiveness of the proposed control approach. These simulations consider various challenging scenarios, including external disturbances, unmodeled dynamics, time-varying water currents, and lateral velocities. Furthermore, a comparison analysis is performed.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 12