Safe Robust Adaptive Motion Control for Underactuated Marine Robots

• Tipo: Artigo em Revista Científica Internacional
• Data: 2024

Autores

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

Revista

Título: Sensors

Nº de Série 22 Vol. 24 Nº 9569

Página Final: 3974

ISSN: 1424-3210

Editora: MDPI

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-010-P6Z

DOI: 10.3390/s24123974

Abstract (EN): This article presents an innovative approach to the design of a safe adaptive backstepping control system. Tailored specifically for underactuated marine robots, the system utilizes simple sensors for enhanced practicality and efficiency. Given their operation in diverse oceanic environments fraught with various sources of uncertainties, ensuring the system's safe and robust behavior holds paramount importance in the control literature. To address this concern, this paper introduces a control strategy designed to ensure robustness at both the kinematic and dynamic levels. By emphasizing the compensation for the system uncertainties, the design integrates a straightforward fuzzy system structure. To further ensure the system's safety, a funnel surface is defined, followed by the design of a suitable nonlinear sliding surface as a function of the funnel and tracking error. Using Lyapunov theory, the study formally establishes the Semi-globally Practically Finite-time Stability of the closed-loop system, validated through simulations conducted on underactuated marine robots.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 20