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Volume 12
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Article

Disturbance Attenuation Trajectory Tracking Control of Unmanned Surface Vessel Subject to Measurement Biases

by
Qijia Yao
1,
Hadi Jahanshahi
2,*,
Chengliang Liu
3,
Ahmed Alotaibi
4 and
Hajid Alsubaie
4
1
School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing 100083, China
2
Institute of Electrical and Electronics Engineers, Toronto, ON M5V3T9, Canada
3
School of Guidance, Navigation, and Control, Aviation University of Air Force, Changchun 130022, China
4
Department of Mechanical Engineering, College of Engineering, Taif University, Taif 21944, Saudi Arabia
*
Author to whom correspondence should be addressed.
Axioms 2023, 12(4), 361; https://doi.org/10.3390/axioms12040361
Submission received: 26 February 2023 / Revised: 29 March 2023 / Accepted: 6 April 2023 / Published: 8 April 2023
(This article belongs to the Special Issue Advances in Uncertain Optimization and Applications)
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Abstract

This article addresses trajectory tracking control of unmanned surface vessels (USVs) subject to position and velocity measurement biases. Unlike model uncertainties and external disturbances, measurement biases can lead to mismatched disturbances in system kinematics, rendering great difficulty to the USV control system design. To overcome this problem, a disturbance attenuation controller was recursively synthesized by incorporating two disturbance observers into the backstepping control design. The stability argument shows that all error signals in the closed-loop system can regulate to the small neighborhoods about the origin. The proposed controller has two remarkable features: (1) By adopting two disturbance observers to estimate the mismatched and matched lumped disturbances, the proposed controller is robust against model uncertainties and external disturbances and insensitive to measurement biases. (2) Meanwhile, the proposed controller is structurally simple and user friendly. Lastly, comparative simulations were conducted to validate the obtained results.
Keywords: unmanned surface vessel; trajectory tracking control; measurement biases; backstepping control; disturbance observer unmanned surface vessel; trajectory tracking control; measurement biases; backstepping control; disturbance observer

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MDPI and ACS Style

Yao, Q.; Jahanshahi, H.; Liu, C.; Alotaibi, A.; Alsubaie, H. Disturbance Attenuation Trajectory Tracking Control of Unmanned Surface Vessel Subject to Measurement Biases. Axioms 2023, 12, 361. https://doi.org/10.3390/axioms12040361

AMA Style

Yao Q, Jahanshahi H, Liu C, Alotaibi A, Alsubaie H. Disturbance Attenuation Trajectory Tracking Control of Unmanned Surface Vessel Subject to Measurement Biases. Axioms. 2023; 12(4):361. https://doi.org/10.3390/axioms12040361

Chicago/Turabian Style

Yao, Qijia, Hadi Jahanshahi, Chengliang Liu, Ahmed Alotaibi, and Hajid Alsubaie. 2023. "Disturbance Attenuation Trajectory Tracking Control of Unmanned Surface Vessel Subject to Measurement Biases" Axioms 12, no. 4: 361. https://doi.org/10.3390/axioms12040361

APA Style

Yao, Q., Jahanshahi, H., Liu, C., Alotaibi, A., & Alsubaie, H. (2023). Disturbance Attenuation Trajectory Tracking Control of Unmanned Surface Vessel Subject to Measurement Biases. Axioms, 12(4), 361. https://doi.org/10.3390/axioms12040361

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