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

fYear

2014

fDate

28-30 July 2014

Firstpage

3558

Lastpage

3562

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Conference (CCC), 2014 33rd Chinese

Conference_Location

Nanjing

Type

conf

DOI

10.1109/ChiCC.2014.6895530

Filename

6895530