Title :
Straight line course tracking of underactuated surface vessels using the SDRE method
Author :
Liu Zhilin ; Dong Yi ; Zhang Jun ; Su Li
Author_Institution :
Coll. of Autom., Harbin Eng. Univ., Harbin, China
Abstract :
The problem of straight line course tracking of an underactuated surface vessel at a constant forward speed is addressed. The Serret-Frenet frame is used to define the tracking error, therefore the position tracking errors could be stabilized by stabilizing the single distance error. A tracking controller based on State-Dependent-Riccati Equation (SDRE) optimizing control method is proposed to solve the challenging problem. The characteristic of SDRE guarantees the stability of the closed-loop system. Simulation results are presented to validate the effectiveness of the proposed method.
Keywords :
Riccati equations; closed loop systems; optimal control; stability; SDRE optimizing control method; Serret-Frenet frame; closed-loop system; constant forward speed; position tracking error stabilization; single-distance error stabilization; state-dependent-Riccati equation optimizing control method; straight line course tracking; tracking controller; underactuated surface vessels; Abstracts; Automation; Chaos; Educational institutions; Electronic mail; Marine vehicles; Sea surface; Couse tracking control; Pseudo-linearization; State-Dependent-Riccati Equation(SDRE); USV;
Conference_Titel :
Control Conference (CCC), 2014 33rd Chinese
Conference_Location :
Nanjing
DOI :
10.1109/ChiCC.2014.6895530
