Abstract
In this paper, we investigate the problem of safety motion control for an underactuated hovercraft from subject to safety constraint on the states, and model uncertainties. First, a new improved integral barrier Lyapunov function is proposed to constrain the surge speed, it can guarantee the lower limit of the surge speed is above the resistance hump speed in order to prevent loss of course stability. Second, to ensure that the heading remains within the pre-specified safety boundary, a time-varying integral barrier Lyapunov function is introduced to avoid the violation of the constraint. Third, we constrain the yaw angular velocity to the interior of the time-varying safety boundary is related to the surge speed to aim at performing the safety turning under the high speed. To deal with model uncertainties, an adaptive parameter approximation algorithm is designed to estimate it. With the help of Lyapunov’s stability theory, it can be proved that all the tracking errors are uniformly ultimately bounded. Finally, results from some simulation studies verify the effectiveness and universality of the proposed scheme.
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This work is supported by the National Natural Science Foundation of China under grant 51309062.
Mingyu Fu received her Ph.D. degree from the College of Automation, Harbin Engineering University, Harbin, China, in 2005, where she is currently a Professor and a Ph.D. Supervisor. Her current research interests include vessel dynamic positioning control, automatic control of unmanned surface vehicle, and hovercraft motion control.
Tan Zhang received his M.E. degree from the College of Automation, Harbin Engineering University, Harbin, China, in 2017. He is currently pursuing a Ph.D. degree of control science and engineering in the College of Automation. His current research interests include robust adaptive control and motion control of the hovercraft.
Fuguang Ding received his M.E. degree from the College of Computer Science and Technology, Harbin Engineering University, Harbin, China, in 1996. Currently he is a Professor and an M.E. Supervisor in the College of Automation, Harbin Engineering University. His main research interests include vessel dynamic positioning control, vessel intelligent control, and motion control of high speed vessel.
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Fu, M., Zhang, T. & Ding, F. Adaptive Safety Motion Control for Underactuated Hovercraft Using Improved Integral Barrier Lyapunov Function. Int. J. Control Autom. Syst. 19, 2784–2796 (2021). https://doi.org/10.1007/s12555-020-0423-8
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DOI: https://doi.org/10.1007/s12555-020-0423-8