Adaptive Finite-Time PI Sliding Mode Trajectory Tracking Control for Underactuated Hovercraft With Drift Angle Constraint
Considering the sailing characteristics and difficult maneuverability of hovercraft, the three degree-of-freedom (DOF) mathematical model cannot describe effectively the motion of hovercraft. Therefore, a mathematical model of four-DOF motion of hovercraft is established. This paper addresses the tr...
Main Authors: | , , |
---|---|
Format: | Article |
Language: | English |
Published: |
IEEE
2019-01-01
|
Series: | IEEE Access |
Subjects: | |
Online Access: | https://ieeexplore.ieee.org/document/8936385/ |
id |
doaj-598a564524ed4e6f85120aeb5ada0eda |
---|---|
record_format |
Article |
spelling |
doaj-598a564524ed4e6f85120aeb5ada0eda2021-03-29T23:14:48ZengIEEEIEEE Access2169-35362019-01-01718488518489510.1109/ACCESS.2019.29606078936385Adaptive Finite-Time PI Sliding Mode Trajectory Tracking Control for Underactuated Hovercraft With Drift Angle ConstraintMingyu Fu0https://orcid.org/0000-0001-7051-7628Tan Zhang1https://orcid.org/0000-0002-6713-5036Fuguang Ding2https://orcid.org/0000-0002-6439-6660College of Automation, Harbin Engineering University, Harbin, ChinaCollege of Automation, Harbin Engineering University, Harbin, ChinaCollege of Automation, Harbin Engineering University, Harbin, ChinaConsidering the sailing characteristics and difficult maneuverability of hovercraft, the three degree-of-freedom (DOF) mathematical model cannot describe effectively the motion of hovercraft. Therefore, a mathematical model of four-DOF motion of hovercraft is established. This paper addresses the trajectory tracking problem of the hovercraft with finite-time convergence to equilibrium point, model uncertainty, external disturbance and drift angle constraint based on the four-DOF model. A novel robust tracking controller is proposed by combining finite-time observer with adaptive sliding mode control to solve the problem of the finite-time convergence and handle approximation error. In order to ensure the safe navigation of the hovercraft, a safety constraint auxiliary system is designed to restrain the drift angle in real time. Furthermore, a finite-time observer is designed to estimate and compensate model uncertainties and external disturbances. We show that under the proposed control scheme, all tracking errors can converge to zero in finite time, the drift angle can be constrained in real time and all closed-loop signals are guaranteed to be bounded. Finally, the numerical simulation results show the effectiveness of the proposed method.https://ieeexplore.ieee.org/document/8936385/PI sliding mode controlfinite-time observerfinite-time controlmodel uncertaintiesstate constraint |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Mingyu Fu Tan Zhang Fuguang Ding |
spellingShingle |
Mingyu Fu Tan Zhang Fuguang Ding Adaptive Finite-Time PI Sliding Mode Trajectory Tracking Control for Underactuated Hovercraft With Drift Angle Constraint IEEE Access PI sliding mode control finite-time observer finite-time control model uncertainties state constraint |
author_facet |
Mingyu Fu Tan Zhang Fuguang Ding |
author_sort |
Mingyu Fu |
title |
Adaptive Finite-Time PI Sliding Mode Trajectory Tracking Control for Underactuated Hovercraft With Drift Angle Constraint |
title_short |
Adaptive Finite-Time PI Sliding Mode Trajectory Tracking Control for Underactuated Hovercraft With Drift Angle Constraint |
title_full |
Adaptive Finite-Time PI Sliding Mode Trajectory Tracking Control for Underactuated Hovercraft With Drift Angle Constraint |
title_fullStr |
Adaptive Finite-Time PI Sliding Mode Trajectory Tracking Control for Underactuated Hovercraft With Drift Angle Constraint |
title_full_unstemmed |
Adaptive Finite-Time PI Sliding Mode Trajectory Tracking Control for Underactuated Hovercraft With Drift Angle Constraint |
title_sort |
adaptive finite-time pi sliding mode trajectory tracking control for underactuated hovercraft with drift angle constraint |
publisher |
IEEE |
series |
IEEE Access |
issn |
2169-3536 |
publishDate |
2019-01-01 |
description |
Considering the sailing characteristics and difficult maneuverability of hovercraft, the three degree-of-freedom (DOF) mathematical model cannot describe effectively the motion of hovercraft. Therefore, a mathematical model of four-DOF motion of hovercraft is established. This paper addresses the trajectory tracking problem of the hovercraft with finite-time convergence to equilibrium point, model uncertainty, external disturbance and drift angle constraint based on the four-DOF model. A novel robust tracking controller is proposed by combining finite-time observer with adaptive sliding mode control to solve the problem of the finite-time convergence and handle approximation error. In order to ensure the safe navigation of the hovercraft, a safety constraint auxiliary system is designed to restrain the drift angle in real time. Furthermore, a finite-time observer is designed to estimate and compensate model uncertainties and external disturbances. We show that under the proposed control scheme, all tracking errors can converge to zero in finite time, the drift angle can be constrained in real time and all closed-loop signals are guaranteed to be bounded. Finally, the numerical simulation results show the effectiveness of the proposed method. |
topic |
PI sliding mode control finite-time observer finite-time control model uncertainties state constraint |
url |
https://ieeexplore.ieee.org/document/8936385/ |
work_keys_str_mv |
AT mingyufu adaptivefinitetimepislidingmodetrajectorytrackingcontrolforunderactuatedhovercraftwithdriftangleconstraint AT tanzhang adaptivefinitetimepislidingmodetrajectorytrackingcontrolforunderactuatedhovercraftwithdriftangleconstraint AT fuguangding adaptivefinitetimepislidingmodetrajectorytrackingcontrolforunderactuatedhovercraftwithdriftangleconstraint |
_version_ |
1724189867480449024 |