Tracking Control of Unmanned Surface Vessels with Nonlinear Sliding Mode Method in Presence of Fixed & Moving Obstacles

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VAHEDI KH.; Norouzi Nia M.; ABDOLLAHI F.

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Journal Paper

Paper Information

Journal: Journal of Aerospace Mechanics Year:2018 | Volume:13 | Issue:4 (50) Page(s): 11-19

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Title

Tracking Control of Unmanned Surface Vessels with Nonlinear Sliding Mode Method in Presence of Fixed & Moving Obstacles

Author(s)

VAHEDI KH. | Norouzi Nia M. | ABDOLLAHI F. | Issue Writer Certificate

Keywords

Unmanned Surface VesselQ1

Robust Control of Sliding ModeQ1

Underactuated SystemQ1

Fixed & Moving ObstaclesQ1

Lyapunov Stability MethodQ1

Abstract

In this paper, tracking control of Unmanned Surface Vessels by using the robust mode sliding control in the presence of fixed and moving obstacles are investigated. The mathematical model of vessels is in three degree of freedom (3DOF) and only contains the kinematics and dynamics of relevant to surge, sway and yaw. These vessels are controlled in under actuated manner; although they have (3DOF), but only are equipped to two actuators in direction of surge and yaw. Next, we are used the mode sliding control method and introduced the first and second order of sliding surfaces as a function of tracking errors in direction of surge and yaw. Based on Lyapunov Stability Method, stability of dynamics of error has been proven. Then, we have put the fixed and moving obstacles in the trajectory of vessels to examine the safe crossing ability of them. Finally, numerical simulations are implemented to demonstrate the validity of proposed controllers.

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APA: Copy

VAHEDI, KH., Norouzi Nia, M., & ABDOLLAHI, F.. (2018). Tracking Control of Unmanned Surface Vessels with Nonlinear Sliding Mode Method in Presence of Fixed & Moving Obstacles. AEROSPACE MECHANICS JOURNAL, 13(4 (50) ), 11-19. SID. https://sid.ir/paper/101957/en

Vancouver: Copy

VAHEDI KH., Norouzi Nia M., ABDOLLAHI F.. Tracking Control of Unmanned Surface Vessels with Nonlinear Sliding Mode Method in Presence of Fixed & Moving Obstacles. AEROSPACE MECHANICS JOURNAL[Internet]. 2018;13(4 (50) ):11-19. Available from: https://sid.ir/paper/101957/en

IEEE: Copy

KH. VAHEDI, M. Norouzi Nia, and F. ABDOLLAHI, “Tracking Control of Unmanned Surface Vessels with Nonlinear Sliding Mode Method in Presence of Fixed & Moving Obstacles,” AEROSPACE MECHANICS JOURNAL, vol. 13, no. 4 (50) , pp. 11–19, 2018, [Online]. Available: https://sid.ir/paper/101957/en

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