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Trajectory Tracking Control of an Autonomous Vessel in the Presence of Unknown Dynamics and Disturbances

Author

Listed:
  • Carlos Aguilar-Ibanez

    (Centro de Investigacion en Computacion, Instituto Politecnico Nacional, Ciudad de Mexico 07738, Mexico
    These authors contributed equally to this work.)

  • Miguel S. Suarez-Castanon

    (Escuela Superior de Computo, Instituto Politecnico Nacional, Ciudad de Mexico 07738, Mexico
    These authors contributed equally to this work.)

  • Eloísa García-Canseco

    (Facultad de Ciencias, Universidad Autonoma de Baja California, Ensenada 22860, Mexico
    These authors contributed equally to this work.)

  • Jose de Jesus Rubio

    (Escuela Superior de Ingenieria Mecanica y Electrica Unidad Azcapotzalco, Instituto Politecnico Nacional, Ciudad de Mexico 02550, Mexico
    These authors contributed equally to this work.)

  • Ricardo Barron-Fernandez

    (Centro de Investigacion en Computacion, Instituto Politecnico Nacional, Ciudad de Mexico 07738, Mexico
    These authors contributed equally to this work.)

  • Juan Carlos Martinez

    (Departamento de Control Automatico, Centro de Investigacion y de Estudios Avanzados del Instituto Politecnico Nacional, Ciudad de Mexico 07360, Mexico
    These authors contributed equally to this work.)

Abstract

We present a proportional–integral–derivative-based controller plus an adaptive slide surface to solve the trajectory tracking control problem for a fully actuated vessel with unknown parameters perturbed by slowly varying external unknown dynamics. The controller design assumes that the vessel moves at low speed and frequency, its physical parameters are unknown, and its state is measurable. The control approach ensures error tracking convergence toward a small vicinity at the origin. We conduct the corresponding stability analysis using the Lyapunov theory and saturation functions. We tested the controller through two numerical experiments—a turning ellipse maneuver and a rest-to-rest maneuver—where the vessel parameters were unknown, and we obtained satisfactory results.

Suggested Citation

  • Carlos Aguilar-Ibanez & Miguel S. Suarez-Castanon & Eloísa García-Canseco & Jose de Jesus Rubio & Ricardo Barron-Fernandez & Juan Carlos Martinez, 2024. "Trajectory Tracking Control of an Autonomous Vessel in the Presence of Unknown Dynamics and Disturbances," Mathematics, MDPI, vol. 12(14), pages 1-17, July.
    • Handle: RePEc:gam:jmathe:v:12:y:2024:i:14:p:2239-:d:1437683
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