{"title":"Tracking Control of Docking Maneuvers for a Fully Actuated Surface Vessel Using Backstepping","authors":"Leticia Mayumi Kinjo;Tomas Ménard;Stefan Wirtensohn;Olivier Gehan;Johannes Reuter","doi":"10.1109/TCST.2024.3385666","DOIUrl":null,"url":null,"abstract":"In this brief, trajectory tracking for a fully actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.","PeriodicalId":13103,"journal":{"name":"IEEE Transactions on Control Systems Technology","volume":"32 5","pages":"1920-1927"},"PeriodicalIF":4.9000,"publicationDate":"2024-04-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Transactions on Control Systems Technology","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/10506048/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
In this brief, trajectory tracking for a fully actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.
期刊介绍：
The IEEE Transactions on Control Systems Technology publishes high quality technical papers on technological advances in control engineering. The word technology is from the Greek technologia. The modern meaning is a scientific method to achieve a practical purpose. Control Systems Technology includes all aspects of control engineering needed to implement practical control systems, from analysis and design, through simulation and hardware. A primary purpose of the IEEE Transactions on Control Systems Technology is to have an archival publication which will bridge the gap between theory and practice. Papers are published in the IEEE Transactions on Control System Technology which disclose significant new knowledge, exploratory developments, or practical applications in all aspects of technology needed to implement control systems, from analysis and design through simulation, and hardware.
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