Stabilization, tracking and formation control of autonomous marine vessels:
This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systemat...
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| Main Authors: | , |
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| Format: | Book |
| Language: | English |
| Published: |
Singapore
Springer
[2022]
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| Subjects: | |
| Summary: | This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the books significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields |
| Item Description: | 6.3 Controller Design and Stability Analysis |
| Physical Description: | xiv, 238 Seiten Illustrationen, Diagramme |
| ISBN: | 9789811681080 |
Staff View
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| 505 | 8 | |a Intro -- Preface -- Acknowledgements -- Contents -- Part I Stabilization Control -- 1 Fixed-Time Stabilization Control of AMVs with Actuator Dead-Zones -- 1.1 Introduction -- 1.2 System Modeling and Preliminaries -- 1.2.1 Dynamic and Kinematic Model -- 1.2.2 The Objective -- 1.2.3 Preliminaries -- 1.3 Model Transformation -- 1.4 Fixed-Time Controller Design -- 1.4.1 Switching Scheme -- 1.4.2 Fixed-Time Control Law -- 1.4.3 Control Algorithm -- 1.5 Numerical Simulations -- 1.5.1 Stability Analysis -- 1.5.2 Comparisons -- 1.6 Conclusion and Future Work -- References | |
| 505 | 8 | |a 2 Stabilization Control of AMVs Under Mismatched Disturbance -- 2.1 Introduction -- 2.2 Problem Statements and Preliminaries -- 2.2.1 Modeling -- 2.2.2 The Objective -- 2.3 Fixed-Time Disturbance Observers -- 2.4 Stabilization of AMVs -- 2.4.1 Stabilization of Horizontal Subsystem -- 2.4.2 Control Law Design -- 2.4.3 Stability Analysis -- 2.4.4 Control Algorithm -- 2.5 Numerical Simulations -- 2.5.1 Stability Analysis -- 2.5.2 Estimation Error -- 2.5.3 Comparisons -- 2.6 Conclusion and Future Work -- References -- 3 Asymptotic Stabilization of AMVs with Actuator Dead-Zones and Yaw Constraints | |
| 505 | 8 | |a 3.1 Introduction -- 3.2 System Modeling and Objective -- 3.2.1 Kinematic Model -- 3.2.2 The Objective -- 3.3 Model Transformations -- 3.4 Stabilization of AMVs with Yaw Constraints -- 3.4.1 Stabilization with Constant Yaw Constraints -- 3.5 Stabilization of AMVs with Disturbances -- 3.5.1 Fixed-Time Observer -- 3.5.2 Initial States Outside Constraint Regions -- 3.5.3 Control Algorithm -- 3.6 Further Discussions -- 3.6.1 Influence of Disturbance on the Sway -- 3.6.2 Stabilization with Time-Varying Yaw Constraints -- 3.7 Numerical Simulations -- 3.7.1 Stability Analysis -- 3.7.2 Comparisons | |
| 505 | 8 | |a 3.7.3 Sway Disturbance -- 3.8 Conclusion and Future Work -- References -- Part II Tracking Control -- 4 Command Filtered Tracking Control of AMVs -- 4.1 Introduction -- 4.2 Problem Formulation and Preliminaries -- 4.2.1 Problem Formulation -- 4.2.2 Preliminaries -- 4.3 Main Result -- 4.3.1 Fixed-Time Based Disturbance Observer Design -- 4.3.2 Line-of-sight Based Guidance System for Marine Vessels -- 4.3.3 Design of Path-Tracking Controller -- 4.3.4 Stability Analysis -- 4.4 Numerical Simulations -- 4.5 Conclusion and Future Work -- References | |
| 505 | 8 | |a 5 Command-Filtered Fixed-Time Tracking Control of AMVs -- 5.1 Introduction -- 5.2 Problem Formulation and Preliminaries -- 5.2.1 Problem Formulation -- 5.2.2 Preliminaries -- 5.3 Main Results -- 5.3.1 A Fixed-Time Disturbance Observer -- 5.3.2 Trajectory Tracking Control Design -- 5.4 Numerical Simulations -- 5.5 Conclusion and Future Work -- References -- Part III Formation Control -- 6 Command Filtered Finite-Time Formation Control of AMVs with Unknown Control Directions -- 6.1 Introduction -- 6.2 Preliminaries and Problem Formulation -- 6.2.1 Preliminaries -- 6.2.2 Problem Formulation | |
| 520 | 3 | |a This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the books significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields | |
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Record in the Search Index
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| author | Guo, Ge Gao, Zhenyu |
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| author_facet | Guo, Ge Gao, Zhenyu |
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| contents | Intro -- Preface -- Acknowledgements -- Contents -- Part I Stabilization Control -- 1 Fixed-Time Stabilization Control of AMVs with Actuator Dead-Zones -- 1.1 Introduction -- 1.2 System Modeling and Preliminaries -- 1.2.1 Dynamic and Kinematic Model -- 1.2.2 The Objective -- 1.2.3 Preliminaries -- 1.3 Model Transformation -- 1.4 Fixed-Time Controller Design -- 1.4.1 Switching Scheme -- 1.4.2 Fixed-Time Control Law -- 1.4.3 Control Algorithm -- 1.5 Numerical Simulations -- 1.5.1 Stability Analysis -- 1.5.2 Comparisons -- 1.6 Conclusion and Future Work -- References 2 Stabilization Control of AMVs Under Mismatched Disturbance -- 2.1 Introduction -- 2.2 Problem Statements and Preliminaries -- 2.2.1 Modeling -- 2.2.2 The Objective -- 2.3 Fixed-Time Disturbance Observers -- 2.4 Stabilization of AMVs -- 2.4.1 Stabilization of Horizontal Subsystem -- 2.4.2 Control Law Design -- 2.4.3 Stability Analysis -- 2.4.4 Control Algorithm -- 2.5 Numerical Simulations -- 2.5.1 Stability Analysis -- 2.5.2 Estimation Error -- 2.5.3 Comparisons -- 2.6 Conclusion and Future Work -- References -- 3 Asymptotic Stabilization of AMVs with Actuator Dead-Zones and Yaw Constraints 3.1 Introduction -- 3.2 System Modeling and Objective -- 3.2.1 Kinematic Model -- 3.2.2 The Objective -- 3.3 Model Transformations -- 3.4 Stabilization of AMVs with Yaw Constraints -- 3.4.1 Stabilization with Constant Yaw Constraints -- 3.5 Stabilization of AMVs with Disturbances -- 3.5.1 Fixed-Time Observer -- 3.5.2 Initial States Outside Constraint Regions -- 3.5.3 Control Algorithm -- 3.6 Further Discussions -- 3.6.1 Influence of Disturbance on the Sway -- 3.6.2 Stabilization with Time-Varying Yaw Constraints -- 3.7 Numerical Simulations -- 3.7.1 Stability Analysis -- 3.7.2 Comparisons 3.7.3 Sway Disturbance -- 3.8 Conclusion and Future Work -- References -- Part II Tracking Control -- 4 Command Filtered Tracking Control of AMVs -- 4.1 Introduction -- 4.2 Problem Formulation and Preliminaries -- 4.2.1 Problem Formulation -- 4.2.2 Preliminaries -- 4.3 Main Result -- 4.3.1 Fixed-Time Based Disturbance Observer Design -- 4.3.2 Line-of-sight Based Guidance System for Marine Vessels -- 4.3.3 Design of Path-Tracking Controller -- 4.3.4 Stability Analysis -- 4.4 Numerical Simulations -- 4.5 Conclusion and Future Work -- References 5 Command-Filtered Fixed-Time Tracking Control of AMVs -- 5.1 Introduction -- 5.2 Problem Formulation and Preliminaries -- 5.2.1 Problem Formulation -- 5.2.2 Preliminaries -- 5.3 Main Results -- 5.3.1 A Fixed-Time Disturbance Observer -- 5.3.2 Trajectory Tracking Control Design -- 5.4 Numerical Simulations -- 5.5 Conclusion and Future Work -- References -- Part III Formation Control -- 6 Command Filtered Finite-Time Formation Control of AMVs with Unknown Control Directions -- 6.1 Introduction -- 6.2 Preliminaries and Problem Formulation -- 6.2.1 Preliminaries -- 6.2.2 Problem Formulation |
| ctrlnum | (OCoLC)1304478670 (DE-599)BVBBV047847770 |
| format | Book |
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| id | DE-604.BV047847770 |
| illustrated | Illustrated |
| index_date | 2024-07-03T19:14:06Z |
| indexdate | 2024-07-10T09:22:59Z |
| institution | BVB |
| isbn | 9789811681080 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-033230646 |
| oclc_num | 1304478670 |
| open_access_boolean | |
| owner | DE-12 |
| owner_facet | DE-12 |
| physical | xiv, 238 Seiten Illustrationen, Diagramme |
| publishDate | 2022 |
| publishDateSearch | 2022 |
| publishDateSort | 2022 |
| publisher | Springer |
| record_format | marc |
| spelling | Guo, Ge Verfasser (DE-588)125369141X aut Stabilization, tracking and formation control of autonomous marine vessels Ge Guo, Zhenyu Gao, Pengfei Zhang Singapore Springer [2022] xiv, 238 Seiten Illustrationen, Diagramme txt rdacontent n rdamedia nc rdacarrier 6.3 Controller Design and Stability Analysis Intro -- Preface -- Acknowledgements -- Contents -- Part I Stabilization Control -- 1 Fixed-Time Stabilization Control of AMVs with Actuator Dead-Zones -- 1.1 Introduction -- 1.2 System Modeling and Preliminaries -- 1.2.1 Dynamic and Kinematic Model -- 1.2.2 The Objective -- 1.2.3 Preliminaries -- 1.3 Model Transformation -- 1.4 Fixed-Time Controller Design -- 1.4.1 Switching Scheme -- 1.4.2 Fixed-Time Control Law -- 1.4.3 Control Algorithm -- 1.5 Numerical Simulations -- 1.5.1 Stability Analysis -- 1.5.2 Comparisons -- 1.6 Conclusion and Future Work -- References 2 Stabilization Control of AMVs Under Mismatched Disturbance -- 2.1 Introduction -- 2.2 Problem Statements and Preliminaries -- 2.2.1 Modeling -- 2.2.2 The Objective -- 2.3 Fixed-Time Disturbance Observers -- 2.4 Stabilization of AMVs -- 2.4.1 Stabilization of Horizontal Subsystem -- 2.4.2 Control Law Design -- 2.4.3 Stability Analysis -- 2.4.4 Control Algorithm -- 2.5 Numerical Simulations -- 2.5.1 Stability Analysis -- 2.5.2 Estimation Error -- 2.5.3 Comparisons -- 2.6 Conclusion and Future Work -- References -- 3 Asymptotic Stabilization of AMVs with Actuator Dead-Zones and Yaw Constraints 3.1 Introduction -- 3.2 System Modeling and Objective -- 3.2.1 Kinematic Model -- 3.2.2 The Objective -- 3.3 Model Transformations -- 3.4 Stabilization of AMVs with Yaw Constraints -- 3.4.1 Stabilization with Constant Yaw Constraints -- 3.5 Stabilization of AMVs with Disturbances -- 3.5.1 Fixed-Time Observer -- 3.5.2 Initial States Outside Constraint Regions -- 3.5.3 Control Algorithm -- 3.6 Further Discussions -- 3.6.1 Influence of Disturbance on the Sway -- 3.6.2 Stabilization with Time-Varying Yaw Constraints -- 3.7 Numerical Simulations -- 3.7.1 Stability Analysis -- 3.7.2 Comparisons 3.7.3 Sway Disturbance -- 3.8 Conclusion and Future Work -- References -- Part II Tracking Control -- 4 Command Filtered Tracking Control of AMVs -- 4.1 Introduction -- 4.2 Problem Formulation and Preliminaries -- 4.2.1 Problem Formulation -- 4.2.2 Preliminaries -- 4.3 Main Result -- 4.3.1 Fixed-Time Based Disturbance Observer Design -- 4.3.2 Line-of-sight Based Guidance System for Marine Vessels -- 4.3.3 Design of Path-Tracking Controller -- 4.3.4 Stability Analysis -- 4.4 Numerical Simulations -- 4.5 Conclusion and Future Work -- References 5 Command-Filtered Fixed-Time Tracking Control of AMVs -- 5.1 Introduction -- 5.2 Problem Formulation and Preliminaries -- 5.2.1 Problem Formulation -- 5.2.2 Preliminaries -- 5.3 Main Results -- 5.3.1 A Fixed-Time Disturbance Observer -- 5.3.2 Trajectory Tracking Control Design -- 5.4 Numerical Simulations -- 5.5 Conclusion and Future Work -- References -- Part III Formation Control -- 6 Command Filtered Finite-Time Formation Control of AMVs with Unknown Control Directions -- 6.1 Introduction -- 6.2 Preliminaries and Problem Formulation -- 6.2.1 Preliminaries -- 6.2.2 Problem Formulation This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the books significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields Schiff (DE-588)4052385-8 gnd rswk-swf Autonomes Fahrzeug (DE-588)7714938-5 gnd rswk-swf Autonomous underwater vehicles Autonomes Fahrzeug (DE-588)7714938-5 s Schiff (DE-588)4052385-8 s DE-604 Gao, Zhenyu Verfasser (DE-588)1253691916 aut Zhang, Pengfei Sonstige (DE-588)1253692181 oth Erscheint auch als Online-Ausgabe, ebk. 978-981-16-8109-7 |
| spellingShingle | Guo, Ge Gao, Zhenyu Stabilization, tracking and formation control of autonomous marine vessels Intro -- Preface -- Acknowledgements -- Contents -- Part I Stabilization Control -- 1 Fixed-Time Stabilization Control of AMVs with Actuator Dead-Zones -- 1.1 Introduction -- 1.2 System Modeling and Preliminaries -- 1.2.1 Dynamic and Kinematic Model -- 1.2.2 The Objective -- 1.2.3 Preliminaries -- 1.3 Model Transformation -- 1.4 Fixed-Time Controller Design -- 1.4.1 Switching Scheme -- 1.4.2 Fixed-Time Control Law -- 1.4.3 Control Algorithm -- 1.5 Numerical Simulations -- 1.5.1 Stability Analysis -- 1.5.2 Comparisons -- 1.6 Conclusion and Future Work -- References 2 Stabilization Control of AMVs Under Mismatched Disturbance -- 2.1 Introduction -- 2.2 Problem Statements and Preliminaries -- 2.2.1 Modeling -- 2.2.2 The Objective -- 2.3 Fixed-Time Disturbance Observers -- 2.4 Stabilization of AMVs -- 2.4.1 Stabilization of Horizontal Subsystem -- 2.4.2 Control Law Design -- 2.4.3 Stability Analysis -- 2.4.4 Control Algorithm -- 2.5 Numerical Simulations -- 2.5.1 Stability Analysis -- 2.5.2 Estimation Error -- 2.5.3 Comparisons -- 2.6 Conclusion and Future Work -- References -- 3 Asymptotic Stabilization of AMVs with Actuator Dead-Zones and Yaw Constraints 3.1 Introduction -- 3.2 System Modeling and Objective -- 3.2.1 Kinematic Model -- 3.2.2 The Objective -- 3.3 Model Transformations -- 3.4 Stabilization of AMVs with Yaw Constraints -- 3.4.1 Stabilization with Constant Yaw Constraints -- 3.5 Stabilization of AMVs with Disturbances -- 3.5.1 Fixed-Time Observer -- 3.5.2 Initial States Outside Constraint Regions -- 3.5.3 Control Algorithm -- 3.6 Further Discussions -- 3.6.1 Influence of Disturbance on the Sway -- 3.6.2 Stabilization with Time-Varying Yaw Constraints -- 3.7 Numerical Simulations -- 3.7.1 Stability Analysis -- 3.7.2 Comparisons 3.7.3 Sway Disturbance -- 3.8 Conclusion and Future Work -- References -- Part II Tracking Control -- 4 Command Filtered Tracking Control of AMVs -- 4.1 Introduction -- 4.2 Problem Formulation and Preliminaries -- 4.2.1 Problem Formulation -- 4.2.2 Preliminaries -- 4.3 Main Result -- 4.3.1 Fixed-Time Based Disturbance Observer Design -- 4.3.2 Line-of-sight Based Guidance System for Marine Vessels -- 4.3.3 Design of Path-Tracking Controller -- 4.3.4 Stability Analysis -- 4.4 Numerical Simulations -- 4.5 Conclusion and Future Work -- References 5 Command-Filtered Fixed-Time Tracking Control of AMVs -- 5.1 Introduction -- 5.2 Problem Formulation and Preliminaries -- 5.2.1 Problem Formulation -- 5.2.2 Preliminaries -- 5.3 Main Results -- 5.3.1 A Fixed-Time Disturbance Observer -- 5.3.2 Trajectory Tracking Control Design -- 5.4 Numerical Simulations -- 5.5 Conclusion and Future Work -- References -- Part III Formation Control -- 6 Command Filtered Finite-Time Formation Control of AMVs with Unknown Control Directions -- 6.1 Introduction -- 6.2 Preliminaries and Problem Formulation -- 6.2.1 Preliminaries -- 6.2.2 Problem Formulation Schiff (DE-588)4052385-8 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd |
| subject_GND | (DE-588)4052385-8 (DE-588)7714938-5 |
| title | Stabilization, tracking and formation control of autonomous marine vessels |
| title_auth | Stabilization, tracking and formation control of autonomous marine vessels |
| title_exact_search | Stabilization, tracking and formation control of autonomous marine vessels |
| title_exact_search_txtP | Stabilization, tracking and formation control of autonomous marine vessels |
| title_full | Stabilization, tracking and formation control of autonomous marine vessels Ge Guo, Zhenyu Gao, Pengfei Zhang |
| title_fullStr | Stabilization, tracking and formation control of autonomous marine vessels Ge Guo, Zhenyu Gao, Pengfei Zhang |
| title_full_unstemmed | Stabilization, tracking and formation control of autonomous marine vessels Ge Guo, Zhenyu Gao, Pengfei Zhang |
| title_short | Stabilization, tracking and formation control of autonomous marine vessels |
| title_sort | stabilization tracking and formation control of autonomous marine vessels |
| topic | Schiff (DE-588)4052385-8 gnd Autonomes Fahrzeug (DE-588)7714938-5 gnd |
| topic_facet | Schiff Autonomes Fahrzeug |
| work_keys_str_mv | AT guoge stabilizationtrackingandformationcontrolofautonomousmarinevessels AT gaozhenyu stabilizationtrackingandformationcontrolofautonomousmarinevessels AT zhangpengfei stabilizationtrackingandformationcontrolofautonomousmarinevessels |