Prof. Jie Yang Profile

Prof. Jie Yang

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Proceedings Article | 1 December 2023 Paper

Ship trajectory tracking control with unknown state and input saturation

Guangyuan Zhang, Jie Yang

Proceedings Volume 12940, 1294019 (2023) https://doi.org/10.1117/12.3010585

KEYWORDS: Error analysis, Matrices, Control systems, Design and modelling, Kinematics, Geodesy, Detection and tracking algorithms, Safety, Neural networks

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An improved sliding mode control (ISMC) method based on linear extended state observer (LESO) is proposed to solve the trajectory tracking problem of underactuated ships with unknown states in the environment of disturbance. It can limit the input in a given range and has strong anti-saturation ability. Firstly, the ship kinematics and dynamics models are transformed into integral series models by coordinate transformation, and then the unknown states are estimated by LESO. Secondly, the corresponding virtual control law is designed by backstepping method. Then, the control frequency of the ship's main propeller and rudder device is reduced by ISMC, and the problem of differential explosion caused by high order derivative of the state quantity is avoided by passing the state quantity through the first order filter. Aiming at the actual input limitation problem of the controller, the anti-saturation strategy is introduced. The effectiveness of the control law is proved by Lyapunov theory.

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