Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles

• Type: Article in International Conference Proceedings Book
• Date: 2024

Authors

Nazmara, GR (Author) Other; Aguiar, AP (Author) FEUP

Conference proceedings International

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

Pages: 174-185

6th Iberian Robotics Conference (Robot)

Coimbra, PORTUGAL, NOV 22-24, 2023

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Other information

Authenticus ID: 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.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12