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Stabilisation of state-and-input constrained nonlinear systems via diffeomorphisms: A Sontag's formula approach with an actual application

J.Á. Acosta, A. Dòria-Cerezo, E. Fossas
2018 International Journal of Robust and Nonlinear Control  
The result has been successfully applied to solve the dynamic positioning of an actual ship where the nonlinear state constraints describe a strait.  ...  In this work we provide a different and constructive outlook for the control of state and control constrained nonlinear systems.  ...  It consists in the dynamic positioning problem of a ship 3 . The Lyapunov-based design mentioned in Section 3 is used in [14] to solve the constrained problem.  ... 
doi:10.1002/rnc.4119 fatcat:i2sw6d5ek5cxnabvc42vsveol4

Variance and Passivity Constrained Fuzzy Control for Nonlinear Ship Steering Systems with State Multiplicative Noises

Wen-Jer Chang, Bo-Jyun Huang
2013 Mathematical Problems in Engineering  
The variance and passivity constrained fuzzy control problem for the nonlinear ship steering systems with state multiplicative noises is investigated.  ...  Finally, a numerical simulation example is provided to illustrate the usefulness and applicability of the proposed multiple performance constrained fuzzy control method.  ...  This work was supported by the National Science Council of the Republic of China under Contract NSC101-2221-E-019-036.  ... 
doi:10.1155/2013/687317 fatcat:fmljhhvqavgsdpvoukbwpvwbx4

Backstepping Control Using Barrier Lyapunov Function for Dynamic Positioning Control System with Passive Observer

Guoqing Xia, Jingjing Xue, Chuang Sun, Bo Zhao
2019 Mathematical Problems in Engineering  
For safety reasons, the position and heading of DP ship are to be maintained in certain range.  ...  This paper presents a backstepping controller using barrier Lyapunov function (BLF) for dynamic positioning (DP) system.  ...  The authors declare that data sources are public and are referred to in [6, 20]  ... 
doi:10.1155/2019/8709369 fatcat:idfah564qfbmlomij5wgykgnfm

Adaptive Filtering Backstepping for Ships Steering Control without Velocity Measurements and with Input Constraints

Guoqing Xia, Huiyong Wu, Xingchao Shao
2014 Mathematical Problems in Engineering  
The combination of approximation-based adaptive technique and radial basis function (RBF) neural network allows us to handle the unknown disturbances from the environment and uncertain ship dynamics.  ...  In order to cope with the input constraints, an auxiliary system is introduced to the output feedback controller, and the semiglobal uniform boundedness of the modified control solution is verified.  ...  Conflict of Interests The authors declare that there is no conflict of interests regarding the publication of this paper.  ... 
doi:10.1155/2014/218585 fatcat:7pqjfamz5nd4tl4crasmvh5rga

LMI-Based Model Predictive Control for Underactuated Surface Vessels with Input Constraints

Lutao Liu, Zhilin Liu, Jun Zhang
2014 Abstract and Applied Analysis  
When the states reach the region, the control law is switched to stabilize the system.  ...  A nonlinear model predictive control (MPC) is proposed for underactuated surface vessel (USV) with constrained inputs.  ...  Acknowledgments This work is partially supported by National Natural Science Foundation of China (61201410, 51379044), Fundamental Research Funds for the Central Universities (HEUCFX41304).  ... 
doi:10.1155/2014/673256 fatcat:xkifspgkyrdptjef4pxomr2geq

Model Predictive Control for Tracking of Underactuated Vessels Based on Recurrent Neural Networks

Zheng Yan, Jun Wang
2012 IEEE Journal of Oceanic Engineering  
Simulation results are provided to demonstrate the effectiveness and characteristics of the proposed neurodynamics-based MPC approaches to vessel tracking control.  ...  The applied neural networks are both stable in the sense of Lyapunov and globally convergent to the exact optimal solutions of reformulated convex programming problems.  ...  In [3] , a complete state tracking feedback control law was proposed to steer both position variables and course angle of a ship.  ... 
doi:10.1109/joe.2012.2201797 fatcat:maoq3e3erbgstfy3o3qtdwna2u

Fuzzy Stabilization for Nonlinear Discrete Ship Steering Stochastic Systems Subject to State Variance and Passivity Constraints

Wen-Jer Chang, Bo-Jyun Huang, Po-Hsun Chen
2014 Mathematical Problems in Engineering  
Finally, the fuzzy stabilization problem for nonlinear discrete ship steering stochastic systems is investigated in the numerical example to illustrate the feasibility and validity of proposed fuzzy controller  ...  For nonlinear discrete-time stochastic systems, a fuzzy controller design methodology is developed in this paper subject to state variance constraint and passivity constraint.  ...  This work was supported by the National Science Council of the Republic of China under Contract NSC102-2221-E-019-051.  ... 
doi:10.1155/2014/598618 fatcat:j653fbbld5ghnkflscbvprod3a

Stability and Tracking Control of Nonlinear Rigid-Body Ship Motions

Chatchawan Aumtab, Thanapat Wanichanon
2022 Journal of Marine Science and Engineering  
Three steps of the fundamental equations of constrained motion (FECM) with an uncertainty control are used to examine a control force to stabilize and track the ship system.  ...  The stability and tracking controls of a dynamic ship system are studied in this paper, in order to stabilize and track the desired path of a catamaran ship system.  ...  For a nonlinear tracking control path, many theorems have the problem of providing controllers that consider a ship's dynamic position.  ... 
doi:10.3390/jmse10020153 fatcat:jegygx5s7jh3pk533srn7gjjwy

Direct Method of the Minimum-Time Traversing and Hoisting Motion of the Container Crane

Subchan Subchan
2007 IPTEK: The Journal for Technology and Science  
The optimal control problem is transformed into sequence of nonlinear constrained optimization problems by discretising of the state and/or control variables.  ...  The problem is to minimize the transfer time of a container, where the optimal trajectory should satisfy the specified initial and terminal conditions and some constraints.  ...  DIRECT COLLOCATION APPROACH The basic approach for solving optimal control problem by direct collocation approach is to transform the optimal control problem into sequence of nonlinear constrained optimisation  ... 
doi:10.12962/j20882033.v18i3.170 fatcat:h36p3zqtlfeqtbs45svpvirpz4

Comments on "Nonlinear output feedback control of dynamically positioned ships using vectorial observer backstepping"

A. Robertsson, R. Johansson
1998 IEEE Transactions on Control Systems Technology  
The decomposition of nonlinear output feedback control into an observer and a state feedback control is an open problem.  ...  The proof for the nonlinear observer used in the design in 1] and 2] only applies to ships with stable sway-yaw dynamics.  ...  The authors wishes to thank the reviewers for useful comments. This work has been supported by the National Board for Industrial and Technical Development (NUTEK).  ... 
doi:10.1109/87.668046 fatcat:zz4wxwl3hjg7nevmtabufzbqqi

Modeling and Optimization Algorithms in Ship Weather Routing

Laura Walther, Anisa Rizvanolli, Mareike Wendebourg, Carlos Jahn
2016 International Journal of e-Navigation and Maritime Economy  
Based on the formulation of the ship weather routing optimization problem different methods are used to solve it ranging from Dijkstra's algorithm, dynamic programing and optimal control methods to isochrone  ...  Due to the wide range of mathematical approaches and consequently challenges in decision making, this paper aims to give a comprehensive and comparative overview of the existing state-of-the-art methods  ...  Acknowledgements Part of the research leading to these results has received funding from the European Union Seventh Framework Programme under the agreement SCP2-GA-2012-314286  ... 
doi:10.1016/j.enavi.2016.06.004 fatcat:vf6ghzzoove55pyffegev4kewm

Pseudospectral Motion Planning for Autonomous Vehicles

Qi Gong, Ryan Lewis, Michael Ross
2009 Journal of Guidance Control and Dynamics  
When the controls are interpolated and the initial state is propagated through the system dynamics, we arrive at a candidate state trajectory. This ship trajectory is shown in Fig. 5.  ...  This optimal control formulation of a motion planning problem covers a large variety of applications. First, the consideration of general nonlinear dynamics allows different vehicles.  ... 
doi:10.2514/1.39697 fatcat:uzg6h3ntivak7l3mikizwy7lwm

Disturbance Compensating Model Predictive Control With Application to Ship Heading Control

Zhen Li, Jing Sun
2011 IEEE Transactions on Control Systems Technology  
to satisfy the state constraints in the presence of environmental disturbances.  ...  To address the constraint violation and feasibility issues of model predictive control (MPC) for ship heading control in wave fields, a novel disturbance compensating MPC (DC-MPC) algorithm has been proposed  ...  For example, if there are position constraints for a dynamical positioning system, the initial position of the ship in the feasible region cannot guarantee the feasibility of .  ... 
doi:10.1109/tcst.2011.2106212 fatcat:ptr2vfca25f2thwfzrfmu5vtwi

Command-Filtered Backstepping Integral Sliding Mode Control with Prescribed Performance for Ship Roll Stabilization

Zhongjia Jin, Weiming Zhang, Sheng Liu, Min Gu
2019 Applied Sciences  
In this paper, a novel, robust fin controller based on the backstepping control strategy and sliding mode control is proposed to handle the problem of ship roll stabilization.  ...  Simulations are presented to demonstrate the effectiveness of the proposed control scheme.  ...  Funding: This research was funded by National Natural Science Foundation of China grant number 61973140. Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/app9204288 fatcat:p5wejbepbjahlfr7iesyjqeekq

Development of Fuzzy Observer Gain Design Algorithm for Ship Path Estimation Based on AIS Data

Chin-Lin Pen, Wen-Jer Chang, Yann-Horng Lin
2021 Processes  
Firstly, a nonlinear ship dynamic system is considered to represent the dynamic behaviors of ships.  ...  However, the nonlinear observer design method is challenging to create directly since some dynamic ship systems are more complex.  ...  Applications of AIS Data and the Nonlinear Observer This section introduces the nonlinear ship dynamic system and the application of AIS data.  ... 
doi:10.3390/pr10010033 fatcat:e2v4upmblvcejm65sjjd4u34mi
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