Trajectory Tracking of Unmanned Surface Vessels Based on Sliding Mode Predictive Control

FENG Xin; YU Shuanghe

doi:10.3969/j.issn.1671-637x.2023.09.016

[1] VALENCIAGA F.A second order sliding mode path following control for autonomous surface vessels［J］.Asian Journal of Control,2014,16(5):1515-1521.

[3] OH S R,SUN J.Path following of underactuated marine surface vessels using line-of-sight based model predictive control［J］.Ocean Engineering,2010,37(2-3):289-295.

[4] LIU Z L,CHAO G,ZHANG J.Model predictive controller design with disturbance observer for path following of unmanned surface vessel［C］//IEEE International Conference on Mechatronics and Automation (ICMA).Takamatsu:IEEE,2017.doi:10.1109/ICMA.2017.8016095.

[5] TIAN Z,YUAN J Q,ZHANG X,et al.Modeling and sliding mode predictive control of the ultra-supercritical boiler-turbine system with uncertainties and input constraints［J］.ISA Transactions,2018,76:43-56.

[6] YIN L H,TURESSON G,TUNESTL P,et al.Sliding mode control on receding horizon:practical control design and application［J］.Control Engineering Practice,2021,109:104724.

[7] MUSA A,SABUG L R,MONTI A.Robust predictive sliding mode control for multiterminal HVDC grids［J］.IEEE Transactions on Power Delivery,2018,33(4):1545-1555.

[8] GARCIA-GABIN W,ZAMBRANO D,CAMACHO E F.Sliding mode predictive control of a solar air conditioning plant［J］.Control Engineering Practice,2009,17(6):652-663.

[9] KANG S Z,WU H T,YANG X L,et al.Discrete-time predictive sliding mode control for a constrained parallel micropositioning piezostage［J］.IEEE Transactions on Systems,Man,and Cybernetics:Systems,2021,52(5):3025-3036.

[10] FARONI M,BESCHI M,PEDROCCHI N.An MPC framework for online motion planning in human-robot collaborative tasks［C］//The 24th IEEE International Conference on Emerging Technologies and Factory Automation (ETFA).Zaragoza:IEEE,2019.doi:10.1109/ETFA.2019.8869047.

[11] CHEN S P,CHEN H Y.MPC-based path tracking with PID speed control for autonomous vehicles［C］//IOP Conference Series:Materials Science and Engineering,The Third International Workshop on Materials Science and Mechanical Engineering (IWMSME).Hangzhou:IWMSME,2020.doi:10.1088/1757-899X/892/1/012034.

[12] CHEN S P,XIONG G M,CHEN H Y,et al.MPC-based path tracking with PID speed control for high-speed autonomous vehicles considering time-optimal travel［J］.Journal of Central South University,2020,27(12):3702-3720.

[13] HEDMAN M,MERCORELLI P.FFTSMC with optimal reference trajectory generated by MPC in robust robotino motion planning with saturating inputs［C］//American Control Conference (ACC).New Orleans,LA:IEEE,2021.doi:10.23919/ACC50511.2021.9482876.

[14] BAYAT F.Model predictive sliding control for finite-time three-axis spacecraft attitude tracking［J］.IEEE Transactions on Industrial Electronics,2019,66(10):7986-7996.

[15] HUANG Y J,WANG H,KHAJEPOUR A,et al.A novel local motion planning framework for autonomous vehicles based on resistance network and model predictive control［J］.IEEE Transactions on Vehicular Technology,2019,69(1):55-66.

[16] YUE M,AN C,DING L,et al.A MPC motion planning-based sliding mode control for underactuated WPS vehicle via Olfati transformation［J］.IET Control Theory & Applications,2018,12(4):495-503.

[20] WANG F,LAI G Y.Fixed-time control design for nonlinear uncertain systems via adaptive method［J］.Systems & Control Letters,2020,140:104704.

[21] CHEN C,LI L X,PENG H P,et al.A new fixed-time stability theorem and its application to the fixed-time synchronization of neural networks［J］.Neural Networks,2020,123:412-419.

[22] DING Y B,WANG X G,BAI Y L,et al.Robust fixed-time sliding mode controller for flexible air-breathing hypersonic vehicle［J］.ISA Transactions,2019,90:1-18.

[23] CHAKRABORTY A,SEILER P,BALAS G J.Susceptibility of F/A-18 flight controllers to the falling-leaf mode:linear analysis［J］.Journal of Guidance,Control,and Dynamics,2011,34(1).doi:10.2514/1.50674.

[24] GAO G,WANG J Z,WANG X H.Adaptive fault-tolerant control for feedback linearizable systems with an aircraft application［J］.Robust and Nonlinear Control,2015,25(9):1301-1326.

[25] ZHEN Z Y,JIANG J,WANG X H,et al.Modeling,control design,and influence analysis of catapult-assisted take-off process for carrier-based aircrafts［J］.Journal of Aerospace Engineering,2018,232(13):2527-2540.

[26] MOORHOUSE D J,WOODCOCK T J.Background information and user guide for MIL-F-8785C［R］.Washington:Air Force Wright Aeronautical,1982.

[27] WANG H H,CHEN B,LIN C,et al.Adaptive finite-time control for a class of uncertain high-order non-linear systems based on fuzzy approximation［J］.IET Control Theory & Applications,2017,11(5):677-684.

[28] SMAEILZADEH S M,GOLESTANI M.Finite-time fault-tolerant adaptive robust control for a class of uncertain non-linear systems with saturation constraints using integral backstepping approach［J］.IET Control Theory & Applications,2018,12(15):2109-2117.

[30] ANGULO M T,MORENO J A,FRIDMAN L.Robust exact uniformly convergent arbitrary order differentiator［J］.Automatica,2013,49(8):2489-2495.

[32] ZHEN Z Y,JIANG S Y,JIANG J.Preview control and particle filtering for automatic carrier landing［J］.IEEE Transactions on Aerospace and Electronic Systems,2018,54(6):2662-2674.