Path Following of Underactuated Unmanned Surface Vehicle Based on Trajectory Linearization Control with Input Saturation and External Disturbances

Bingbing Qiu,Guo-Feng Wang,Yun-Sheng Fan,Dong-Dong Mu,Xiaojie Sun 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.8

This paper investigates the path following control problem for underactuated unmanned surface vehicle(USV) in the presence of unmodeled dynamics, external disturbances and input saturation. A novel adaptive robustpath following control scheme is proposed by employing trajectory linearization control (TLC) technology andfinite-time disturbance observer, which is composed of a concise yaw rate controller and a surge speed controller. The salient features of the proposed scheme include: a path following guidance law is designed to ensure USVeffectively converging to and following the desired path; TLC is introduced into the field of USV motion controlas new effective technique, and it is the first time used to design path following controller for underactuated USV;a finite-time nonlinear tracking differentiator is constructed not only to avoid the signal jump caused by derivation,but also to filter noise and high frequency interference. A finite-time disturbance observer (FDO) is devised toexactly observe the uncertain dynamics and unknown external disturbances, which improves the tracking accuracyand precise disturbance rejection of the proposed controller; then, an auxiliary dynamic system that is governed bysmooth switching function is developed to compensate for the saturation constraint on actuator. Stability analysisverifies that all signals in the closed-loop system are uniformly ultimately bounded. Finally, simulation results andcomparisons illustrate the superiority of the proposed control scheme.

자율 주차 시스템을 위한 주차 경로 추종 방법의 비교 연구

김민성,임규범,박재흥 한국로봇학회 2020 로봇학회 논문지 Vol.15 No.2

Over the last years, a number of different path following methods for the autonomous parking system have been proposed for tracking planned paths. However, it is difficult to find a study comparing path following methods for a short path length with large curvature such as a parking path. In this paper, we conduct a comparative study of the path following methods for perpendicular parking. By using Monte-Carlo simulation, we determine the optimal parameters of each controller and analyze the performance of the path following. In addition, we consider the path following error occurred at the switching point where forward and reverse paths are switched. To address this error, we conduct the comparative study of the path following methods with the one thousand switching points generated by the Monte-Carlo method. The performance of each controller is analyzed using the V-rep simulator. With the simulation results, this paper provides a deep discussion about the effectiveness and limitations of each algorithm.

비행체 시간지연을 고려한 정밀경로추종 PID 제어기법

이인석(Ihnseok Rhee),박상혁(Sanghyuk Park),이경호(Kyoung-ho Lee) 한국항공우주학회 2011 韓國航空宇宙學會誌 Vol.39 No.7

무인항공기가 복잡한 지형이나 위험 지역에서 안전한 비행을 하기 위해서는 요구되는 경로를 정밀하게 추종할 수 있는 제어기법이 필요하다. 경로추종을 위해 사용되는 PID 제어기에서는 경로의 곡률을 앞먹임하여 추종성능을 개선할 수 있다. 한편 경로를 정밀 추종하기 위해서는 제어기의 이득을 크게 하는 것이 필요하나 비행체의 응답속도가 느린 경우 큰 경로 추종 이득을 사용할 경우 성능 저하 또는 불안정성이 발생할 수 있다. 여기서는 응답지연을 고려하여 앞먹임을 갖는 PID제어기의 설계방법을 고려하였다. 앞먹임에 필요한 경로정보를 간단히 얻기 위해 주어진 경로를 3차 스플라인 방법을 적용하여 3차 다항식으로 나타내었다. 설계한 제어기의 추종성능을 평가하기 위해 높은 고도에서 운용되는 느린 횡방향 동특성을 갖는 무인항공기에 대해 비선형 시뮬레이션을 수행하였다. 제어기에서는 횡방향 동특성을 1차 모델로 가정하여 반영하였다. 시뮬레이션을 통하여 동특성을 고려한 경우는 비행체가 주어진 경로를 매우 정밀하게 추종함을 확인하였다. In order to complete missions in a complicated terrain or highly dangerous area, an unmanned aerial vehicle(UAV) needs a fine controller to precisely follow the desired path. A PID controller used for the path following feeds forward path curvature information to the control input to improve the path following performance. High gain for PID controller is necessary to follow path tightly. However the high gain could cause instability or performance degradation when the vehicle has slow dynamics. We present PID controller design method which considers response delay of vehicle as well as path curvature. In order to obtain path curvature the desired path is described as a 3rd order polynomial by applying cubic spline interpolation. We apply the proposed controller to the path following of a UAV which is operated in high altitude and has very slow lateral dynamics. The lateral dynamics are modelled as a first order delayed system in the controller design. Nonlinear simulation shows the UAV with proposed controller follows an arbitrary path very tightly.

정밀경로추종을 위한 PID 제어기법

이인석,박상혁,이경호 한국항공우주학회 2011 한국항공우주학회 학술발표회 논문집 Vol.2011 No.4

무인항공기가 복잡한 지형이나 위험 지역에서 안전한 비행을 하기 위해서는 요구되는 경로를 정밀하게 추종할 수 있는 제어기법이 필요하다. 경로추종을 위해 일반적으로 다뤄지는 PID 제어기는 설계가 쉬운 반면에 복잡한 궤적을 정밀하게 추종하는데 적합하지 않다고 알려져 있다. 하지만 본 연구에서는 PID 제어기에 경로정보의 앞먹임을 추가함으로써 정밀한 경로추종이 가능하게 하였다. 앞먹임에 필요한 경로정보를 간단히 얻기 위해 주어진 경로를 3차 스플라인 방법을 적용하여 3차 다항식으로 나타내었다. 또한 무인항공기의 동특성을 1차 모델로 가정하여 제어기에 반영함으로써 무인항공기의 응답지연으로 인한 성능저하를 감소하고자 하였다. 마지막으로 설계된 제어기를 무인항공기 비선형 모델에 적용하여 그 성능을 확인하였다. In order to complete missions in the complicated terrain or highly dangerous area, an unmanned aerial vehicle(UAV) needs a fine controller to precisely follow the desired path. APID controller is widely used for the path following because a controller design is easy. But it is known as an unsuitable controller to a sophisticated path following. In this paper, a PID controller feeding path informations forward is suggested for following desired path tightly. In order to obtain path information the desired path is described as 3rd order polynomial by applying cubic spline interpolation. Moreover, the dynamic of UAV is modelled as a first order delayed system which degrade the performance of the path following. PD controller is designed by considering the delay to alleviate the degradation. Finally, designed controller is applied to the nonlinear model of UAV for confirmation of performance.

Spatial target path following and coordinated control of multiple UUVs

Qi, Xue,Xiang, Peng,Cai, Zhi-jun The Society of Naval Architects of Korea 2020 International Journal of Naval Architecture and Oc Vol.12 No.-

The coordination control of multiple Underactuated Underwater Vehicles (UUVs) moving in three dimensional space is investigated in this paper. The coordinated path following control task is decomposed into two sub tasks, that is, path following control and coordination control. In the spatial curve path following control task, path following error dynamics is build in the Serret-Frenet coordinate frame. The virtual reference object can be chosen freely on the desired spatial path. Considering the speed of the UUV, the line-of-sight navigation is introduced to help the path following errors quickly converge to zero. In the coordination control sub task, the communication topology of multiple UUVs is described by the graph theory. The speed of each UUV is adjusted to achieve the coordination. The path following system and the coordination control system are viewed as the feedback connection system. Input-to-state stable of the coordinated path following system can be proved by small gain theorem. The simulation experiments can further demonstrate the good performance of the control method.

Spatial target path following and coordinated control of multiple UUVs

Qi, Xue,Xiang, Peng,Cai, Zhi-jun The Society of Naval Architects of Korea 2020 International Journal of Naval Architecture and Oc Vol.12 No.1

The coordination control of multiple Underactuated Underwater Vehicles (UUVs) moving in three dimensional space is investigated in this paper. The coordinated path following control task is decomposed into two sub tasks, that is, path following control and coordination control. In the spatial curve path following control task, path following error dynamics is build in the Serret-Frenet coordinate frame. The virtual reference object can be chosen freely on the desired spatial path. Considering the speed of the UUV, the line-of-sight navigation is introduced to help the path following errors quickly converge to zero. In the coordination control sub task, the communication topology of multiple UUVs is described by the graph theory. The speed of each UUV is adjusted to achieve the coordination. The path following system and the coordination control system are viewed as the feedback connection system. Input-to-state stable of the coordinated path following system can be proved by small gain theorem. The simulation experiments can further demonstrate the good performance of the control method.

Orienting Head-Truck in the Design of Truck-Trailer Path Following Control

Augie Widyotriatmo 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

A method for determining the control algorithm for a truck-trailer system following a certain path is proposed. The control design for path following control of a truck-trailer system is divided into three steps, which are orienting the head-truck, backstepping the steering angle, and position control of steering angle. In the orienting head-truck, the headtruck serves as the steering direction of a truck-trailer system. By designing the orienting head-truck algorithm that, the truck-trailer body is driven to be aligned with the tangent of path-curve. From the orienting head-truck algorithm, a backstepping method is utilized to implement the steering angle control. Then, the position control to set the steering angle to the desired one which is calculated by the steering control. By using this method, the stability of the origin of the distance and orientation error is proven by the Lyapunov method. Simulation results of truck trailer following a rectangular path is performed, showing the effectiveness of the proposed method.

Path-Following Control for Unmanned Surface Vessel Using 1st System of Identified Unmanned Surface Vessel Dynamic Model and Path-Planning of Towed Unmanned Underwater Vehicles

구평모(Pyung Mo Ku),유재관(Jae Kwan Ryu),이원희(Won Hee Lee) Korean Society for Precision Engineering 2022 한국정밀공학회지 Vol.39 No.1

This paper proposes a simplified path-following control method for an Unmanned Surface Vessel (USV) considering towed Unmanned Underwater Vehicles (UUV). For dealing with an effective USV dynamic model, 1st order of the linear system with time delay and gain value are applied rather than applying a non-linear dynamic model, and it is identified with real vessel data from several straight and turning experiments. Then, USV attitude and velocity are controlled by multi-loop Proportional-Derivative (PD) and proportional controller. A USV guidance scheme is derived through a UUV guidance scheme to support autonomous navigation for towed UUV, and combination of cross track and Line of Sight (LOS) guidance is presented for adaptive path following. Finally, to validate the performance of the proposed USV path-following control method with respect to the towed UUV guidance scheme, the results of simulations are presented.

Adaptive Nonlinear Model Predictive Path-Following Control for a Fixed-wing Unmanned Aerial Vehicle

강연식,양광진,Salah Sukkarieh 제어·로봇·시스템학회 2013 International Journal of Control, Automation, and Vol.11 No.1

This paper presents an adaptive Nonlinear Model Predictive Control (NMPC) for the path-following control of a fixed-wing unmanned aerial vehicle (UAV). The objective is to minimize the mean and maximum errors between the reference path and the UAV. Navigating in a cluttered environment requires accurate tracking. However, linear controllers cannot provide good tracking performance due to nonlinearities that arise in the system dynamics and physical limitations such as actuator saturation and state constraints. NMPC provides an alternative since it can combine multiple objectives and constraints, which minimize the objective function. However, it is difficult to decide appropriate control horizon since the path-following performance depends on the profile of the path. Therefore, a fixed-horizon NMPC cannot guarantee accurate tracking performance. An adaptive NMPC that varies the control horizon according to the path curvature profile for tight tracking is proposed in this paper. Simulation results show that the proposed adaptive NMPC controller can follow the path more accu-rately than a conventional, fixed-horizon NMPC.

Real-time Parameter Updating and Path-following Control for Autonomous Vehicles on Slope Roads

Zhongchao Liang,Yidi Chen,Jing Zhao 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.7

This paper proposes a path-following controller and a torque allocation strategy for a four-wheelindependent-drive (FWID) electric autonomous ground vehicle (EAGV) on the slope roads. To improve the realtime accuracy of the controller, a model-predictive-control (MPC) controller with a linear-parameter-varying (LPV) model is proposed to maintain the vehicle dynamic stability and follow the given path for the EAGV. By updating the parameters of the states, the proposed controller can minimize the effects of the unequal normal tire forces and the gravity components of the vehicle on the slope road. As a result, the desired trajectory of the lateral position, longitudinal position, yaw angle, and velocity can be tracked by controlling the front-wheel-steering angle and the driving torque of each wheel. Finally, the high-fidelity simulations have been implemented on the CarSim-Matlab platform, and the results show that the proposed LPV-MPC controller with the torque allocation strategy is effective to achieve the control targets.