Robust adaptive path-following control of underactuated marine vessel with off-track error constraint

DOI10.1080/00207721.2018.1460412zbMath1481.93060OpenAlexW2799875207WikidataQ129948732 ScholiaQ129948732MaRDI QIDQ5027553

Sami El-Ferik, Jawhar Ghommam, Maarouf Saad

Publication date: 4 February 2022

Published in: International Journal of Systems Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1080/00207721.2018.1460412

zbMATH Keywords

robust controlactuator saturationbackstepping controlpath-followingunderactuated surface vessel\textit{tan}-barrier Lyapunov function

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Adaptive control/observation systems (93C40) Automated systems (robots, etc.) in control theory (93C85)

Related Items (10)

PSO-based nonlinear model predictive planning and discrete-time sliding tracking control for uncertain planar underactuated manipulators ⋮ Robust trajectory tracking control of a marine surface vessel using asymmetric error constraints and output feedback ⋮ Robust trajectory tracking control of marine surface vessels with uncertain disturbances and input saturations ⋮ Adaptive platoon control for marine surface vehicles in the presence of constraints ⋮ Backstepping control using barrier Lyapunov function for dynamic positioning control system with passive observer ⋮ Robust fixed-time trajectory tracking control of marine surface vessel with feedforward disturbance compensation ⋮ Convex combination of multiple models for discrete-time adaptive control ⋮ Disturbance observer-based fixed-time prescribed performance tracking control for robotic manipulator ⋮ Trajectory tracking with time-varying terrain conditions for an autonomous omnidirectional mobile robot using stratified variable structure saturated control ⋮ Balance and velocity control of a novel spherical robot with structural asymmetry

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