Exponential stabilization of an underactuated autonomous surface vessel
Automatica (Journal of IFAC)
Combined speed and yaw control of under actuated unmanned surface vehicles
CAR'10 Proceedings of the 2nd international Asia conference on Informatics in control, automation and robotics - Volume 1
Robotics and Autonomous Systems
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A new method combining trajectory planning, tracking and coordinated control for unmanned surface vessels is presented based on nonlinear sliding mode control. A limiting factor of sliding mode tracking control is that it can only guarantee position tracking as long as the vessel initial conditions are on the desired trajectory. In this work, a transitional trajectory between the vessel initial condition and the desired trajectory path is implemented using a set of two ordinary differential equations (ODEs) in terms of the position state feedbacks such that the ODE solution converges to the desired trajectory path. An additional advantage of this approach is that when the ODE represents a limit cycle, it can be used for coordinating multiple vessel trajectories without any possibility of collision. Several simulations are presented where the vessel successfully reaches and follows a desired trajectory starting from a variety of initial starting conditions.