PCLOS based fractional-order sliding mode stochastic path following control for underactuated marine vehicles with multiple disturbances and constraints
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View abstract on PubMed
Summary
This summary is machine-generated.This study introduces a novel control strategy for underactuated marine vehicles (UMVs) navigating complex marine environments. The fractional-order sliding mode stochastic (FSMS) control ensures stable path following despite disturbances and constraints.
Area Of Science
- Marine Robotics and Control Systems
- Nonlinear Control Theory
- Stochastic Systems Analysis
Background
- Underactuated Marine Vehicles (UMVs) face challenges in path following due to complex marine environments with deterministic and stochastic disturbances.
- Existing control strategies often struggle with simultaneous disturbance rejection and constraint satisfaction in UMV path following.
Purpose Of The Study
- To develop a robust control strategy for UMVs to achieve accurate path following under multiple disturbances and constraints.
- To enhance system dynamic response speed and mitigate chattering phenomena in UMV control systems.
Main Methods
- A position-constrained line-of-sight (PCLOS) guidance law utilizing a universal barrier Lyapunov function is proposed for constraint adherence.
- A fractional-order sliding mode stochastic (FSMS) controller is designed, integrating fractional-order theory and sliding mode control principles.
- A stochastic disturbance observer estimates slow-varying deterministic disturbances, and auxiliary dynamic compensators address input constraints.
Main Results
- Theoretical analysis confirms the stability of the closed-loop system and satisfaction of position constraint requirements.
- The proposed FSMS control strategy effectively attenuates chattering and improves system dynamic response.
- Comparative simulations demonstrate the superior performance and effectiveness of the developed control strategy.
Conclusions
- The novel PCLOS-based FSMS control strategy provides a robust solution for UMV path following in challenging marine environments.
- The integrated approach effectively handles stochastic disturbances, position constraints, and input limitations, ensuring reliable UMV operation.
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