Session: RA4.1: Robotics & Automation-Specialized Navigation & Control

Paper Number: 189916

189916 - Trajectory Tracking Control of Marine Surface Vessels With Robust Compensation for Unknown Water Currents 

Unknown water currents affect the tracking accuracy of marine surface vessels (MSVs) by moving their plane of motion. Commonly used observer-based estimation methods suffer from amplification of high-frequency measurement noise. Recent research has shown increased accuracy in estimation and tracking with the construction of water current estimation laws in the MSVs kinematic model, instead of the dynamic model. However, such estimation laws lack finite-time stability and robustness, leading to a degradation of the transient response of the tracking error system. This paper proposes a trajectory tracking control scheme for MSVs with a water current estimate law based on a tangent hyperbolic function, which improves the transient response of the overall error system. Finite-time robust compensation is provided by a virtual control law, as part of a cascaded control system, whose stability is proved via Lyapunov theory. Comparative trajectory tracking simulations on a 3-DOF MSV are presented to show the effectiveness and superiority of the proposed approach.

Presenting Author: Basireddy Sandeep Reddy Indian Institute of Technology Guwahati

Presenting Author Biography: NA