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Search Results (5)

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Keywords = fast finite-time path following

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23 pages, 8306 KiB  
Article
Finite Time ESO-Based Line-of-Sight Following Method with Multi-Objective Path Planning Applied on an Autonomous Marine Surface Vehicle
by Bingheng Han and Jinhong Sun
Electronics 2025, 14(5), 896; https://doi.org/10.3390/electronics14050896 - 24 Feb 2025
Cited by 1 | Viewed by 482
Abstract
The multi-objective path planning and robust continuous path-following method for the autonomous marine surface vehicle (AMSV) is employed. By incorporating the position and direction constraints into the optimization cost function, the spiral path planner obtains a continuous path with smooth path tangency and [...] Read more.
The multi-objective path planning and robust continuous path-following method for the autonomous marine surface vehicle (AMSV) is employed. By incorporating the position and direction constraints into the optimization cost function, the spiral path planner obtains a continuous path with smooth path tangency and curvature and ensures strict adherence to the desired multi-objective points. An improved A* and optimization algorithm are combined with the global path planning to avoid obstacles in real-time. For the path-following controller, the unknown sideslip angle and uncertainties are added to build the system model, based on which observation technique is adopted to estimate all the uncertainties online. Based on the kinematic system, a finite time extended state observer (ESO) is put forward to estimate the sideslip angle accurately. The nonlinear line-of-sight (LOS) guidance scheme is designed for the model, effectively compensating for the observed values and achieving convergence in a finite time. The finite-time ESO is adopted to estimate the uncertainty for the surge and heading controller design, and the terminal sliding mode technique is introduced to achieve the final finite-time convergence. Through extensive experiments, the proposed approach demonstrates its effectiveness, feasibility, and the advantage of fast convergence and accurate control. Full article
(This article belongs to the Special Issue Novel Methods for Nonlinear Control and Optimization: Theory and Applications)
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16 pages, 2677 KiB  
Article
Finite-Time Robust Path-Following Control of Perturbed Autonomous Ground Vehicles Using a Novel Self-Tuning Nonsingular Fast Terminal Sliding Manifold
by Cong Phat Vo, Quoc Hung Hoang, Tae-Hyun Kim and Jeong hwan Jeon
Mathematics 2024, 12(4), 549; https://doi.org/10.3390/math12040549 - 10 Feb 2024
Viewed by 2253
Abstract
This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and external disturbances are estimated by a [...] Read more.
This work presents a finite-time robust path-following control scheme for perturbed autonomous ground vehicles. Specifically, a novel self-tuning nonsingular fast-terminal sliding manifold that further enhances the convergence rate and tracking accuracy is proposed. Then, uncertain dynamics and external disturbances are estimated by a high-gain disturbance observer to compensate for the designed control input. Successively, a super-twisting algorithm is incorporated into the final control law, significantly mitigating the chattering phenomenon of both the input control signal and the output trajectory. Furthermore, the global finite-time convergence and stability of the whole proposed control algorithm are proven by the Lyapunov theory. Finally, the efficacy of the proposed method is validated with comparisons in a numerical example. It obtains high control performance, reduced chattering, fast convergence rate, singularity avoidance, and robustness against uncertainties. Full article
(This article belongs to the Special Issue Control Theory and Applications, 2nd Edition)
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18 pages, 2564 KiB  
Article
Path-Guided Finite-Time Formation Control of Nonholonomic Mobile Robots Based on an Extended State Observer
by Yanyan Fan, Zhenlin Jin, Xiaoyuan Luo, Shaobao Li and Baosu Guo
Appl. Sci. 2022, 12(18), 9281; https://doi.org/10.3390/app12189281 - 16 Sep 2022
Cited by 2 | Viewed by 1984
Abstract
In this paper, we study the finite-time formation control problem of uncertain nonholonomic mobile robots following a parameterized path. A path-guided formation control scheme based on an extended state observer is proposed. To compensate for unmeasured velocities and disturbances simultaneously, a third-order fast [...] Read more.
In this paper, we study the finite-time formation control problem of uncertain nonholonomic mobile robots following a parameterized path. A path-guided formation control scheme based on an extended state observer is proposed. To compensate for unmeasured velocities and disturbances simultaneously, a third-order fast finite-time extended state observer (FFTESO) is proposed. Then, a distributed formation control solution is developed to achieve the kinematic and dynamic system coordination control of the nonholonomic mobile robots. For the kinematic system control, a path-parameter-updating law is developed for a virtual leader, and the desired linear velocity and heading angle are developed for the mobile robots. For the kinetic control, an anti-disturbance control protocol is designed based on the estimated signals. The salient features of the proposed algorithms lie in that the estimations of disturbances and unmeasured velocities are achieved against the system’s nonholonomic constraints, and the path following the control and cooperative control is synthesized together for path-guided formation, which reduces the complexity of the controller design. Finally, simulation studies are conducted to demonstrate the effectiveness of the proposed algorithm. Full article
(This article belongs to the Section Robotics and Automation)
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20 pages, 2730 KiB  
Article
Fast Finite-Time Path-Following Control of Unmanned Surface Vehicles with Sideslip Compensation and Time-Varying Disturbances
by Zhiping He, Guofeng Wang, Yunsheng Fan and Shuanghu Qiao
J. Mar. Sci. Eng. 2022, 10(7), 960; https://doi.org/10.3390/jmse10070960 - 13 Jul 2022
Cited by 6 | Viewed by 2111
Abstract
This paper studies the fast finite-time path following of underactuated unmanned surface vehicles (USV) with sideslip compensation, time-varying disturbances and input saturation. In the guidance module, the fast finite-time predictor-based line-of-sight (FFTPLOS) is proposed to overcome the large guidance angle and high-frequency oscillation [...] Read more.
This paper studies the fast finite-time path following of underactuated unmanned surface vehicles (USV) with sideslip compensation, time-varying disturbances and input saturation. In the guidance module, the fast finite-time predictor-based line-of-sight (FFTPLOS) is proposed to overcome the large guidance angle and high-frequency oscillation and eliminate the sideslip angle with finite time. Then, the robust finite-time feedback control is applied to keep the vehicle following the desired path in the control module, where the reduced-order extended state observers (ROESO) are applied to deal with time-varying disturbances. Additionally, fast finite-time auxiliary dynamic systems with smoothly switching functions (FFTADS-SSF) achieve the saturation constraints on actuators with low consumption. The stability analysis proves that the guidance-control system of USVs is uniformly ultimately bounded stable within finite time. The effectiveness and performance of this proposed scheme are superior to the comparison schemes. Full article
(This article belongs to the Section Ocean Engineering)
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27 pages, 8861 KiB  
Article
Adaptive Fast Non-Singular Terminal Sliding Mode Path Following Control for an Underactuated Unmanned Surface Vehicle with Uncertainties and Unknown Disturbances
by Yunsheng Fan, Bowen Liu, Guofeng Wang and Dongdong Mu
Sensors 2021, 21(22), 7454; https://doi.org/10.3390/s21227454 - 10 Nov 2021
Cited by 18 | Viewed by 3324
Abstract
This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the [...] Read more.
This paper focuses on an issue involving robust adaptive path following for the uncertain underactuated unmanned surface vehicle with time-varying large sideslips angle and actuator saturation. An improved line-of-sight guidance law based on a reduced-order extended state observer is proposed to address the large sideslip angle that occurs in practical navigation. Next, the finite-time disturbances observer is designed by considering the perturbations parameter of the model and the unknown disturbances of the external environment as the lumped disturbances. Then, an adaptive term is introduced into Fast Non-singular Terminal Sliding Mode Control to design the path following controllers. Finally, considering the saturation of actuator, an auxiliary dynamic system is introduced. By selecting the appropriate design parameters, all the signals of the whole path following a closed-loop system can be ultimately bounded. Real-time control of path following can be achieved by transferring data from shipborne sensors such as GPS, combined inertial guidance and anemoclinograph to the Fast Non-singular Terminal Sliding Mode controller. Two examples as comparisons were carried out to demonstrate the validity of the proposed control approach. Full article
(This article belongs to the Topic Information Sensing Technology for Intelligent/Driverless Vehicle)
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