Adaptive region reaching control of fully actuated ocean surface vessels

ABSTRACT

In this paper, region reaching controller is designed for fully actuated ocean surface vessels to reach a desired target region instead of a point. There are not the requirements for both the pre-specified trajectory outside the desired region and the desired pinpoint position inside the desired region. The controller design is based on the potential energy function, backstepping recursive design methodology, and the Lyapnov stability analysis theory. If the target region is specified arbitrarily small, the target region reduces to a point, and hence the region reaching control can be a generalisation of the setpoint control. Simulation results are presented to illustrate the performance of the proposed controller.

KEYWORDS:

• Reaching control
• potential energy function
• adaptive control
• backstepping technique
• Lyapunov stability

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work is supported by the Natural Science Foundation of China under Grant Number 51775329, the Shanghai Natural Science Foundation of China under Grant Number 10.13039/10000721919ZR1422800, and the Open Project Program of the state key laboratory of engines (Tianjin University) under Grant Number K2019-14.

Notes on contributors

X. M. Sun

Xiaoming Sun received bachelor degree from Beijing Forestry University in 2007, and the Ph.D degree in the Department of Automation Science and Electrical Engineering, Beihang University (BUAA) in 2016. Since 2016, she has been with the school of Engineering Science and Technology, Shanghai Ocean University as a lecturer. Her research interest covers nonlinear systems, intelligent control, and control of multiple agents.

S. S. Ge

Shuzhi Sam Ge Received his bachelor degree from Beihang University (BUAA) in 1986, and the Ph.D degree from Imperial College of Science, Technology and Medicine, University of London in 1993. He is founding director of the Social Robotics Laboratory Interactive Digital Media Institute, professor with the Department of Electrical and Computer Engineering, the National University of Singapore, director of Robotics Institute and Institute of Intelligent Systems and Information Technology, University of Electronic Science and Technology of China, and Yangtze River Scholar Guest Professor with the Department of Automation Science and Electrical Engineering, Beihang University (BUAA). He has (co-)authored five books, edited a book, and published over 200 international journal papers. His current research interest covers social robotics, multimedia fusion, adaptive control, and intelligent systems.

Q. Xu

Qing Xu received his bachelor degree from Beijing Forestry University in 2014, and now he is a Ph.D candidate in the School of Automation Science and Electrical Engineering, Beihang University (BUAA). His research interest covers adaptive control, constrained control and service robot control.

Y. Zhou

Yue Zhou received her Ph.D degree from Shenyang Institute of Automation Chinese Academy in 2003. Currently, she is a full professor at the school of Engineering Science and Technology, Shanghai Ocean University. Her research interests include networked control system, underwater vehicle control system, and intelligent control.

X. W. Zheng

Xingwei Zheng received master degree from Harbin Institute of Technology in 2007, and Ph.D degree in the department of Materials Science college, Shanghai JiaoTong University in 2012. His research interest covers intelligent manufacturing of materials, materials corrosion and protection.