Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping

An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without...
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Autor*in:	Yan Zhang [verfasserIn] Meijuan Zhang [verfasserIn] Qiang Zhang [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2020

Schlagwörter:	Auto-berthing underactuated marine surface vehicle concise backstepping differential homeomorphic

Übergeordnetes Werk:	In: IEEE Access - IEEE, 2014, 8(2020), Seite 197059-197067
Übergeordnetes Werk:	volume:8 ; year:2020 ; pages:197059-197067

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1109/ACCESS.2020.3034491

Katalog-ID:	DOAJ054389895

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520			\|a An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme.
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allfields	10.1109/ACCESS.2020.3034491 doi (DE-627)DOAJ054389895 (DE-599)DOAJ3cd8a762e655467fafc8b8b85c36a085 DE-627 ger DE-627 rakwb eng TK1-9971 Yan Zhang verfasserin aut Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme. Auto-berthing underactuated marine surface vehicle concise backstepping differential homeomorphic Electrical engineering. Electronics. Nuclear engineering Meijuan Zhang verfasserin aut Qiang Zhang verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 197059-197067 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:197059-197067 https://doi.org/10.1109/ACCESS.2020.3034491 kostenfrei https://doaj.org/article/3cd8a762e655467fafc8b8b85c36a085 kostenfrei https://ieeexplore.ieee.org/document/9241728/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 197059-197067
spelling	10.1109/ACCESS.2020.3034491 doi (DE-627)DOAJ054389895 (DE-599)DOAJ3cd8a762e655467fafc8b8b85c36a085 DE-627 ger DE-627 rakwb eng TK1-9971 Yan Zhang verfasserin aut Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme. Auto-berthing underactuated marine surface vehicle concise backstepping differential homeomorphic Electrical engineering. Electronics. Nuclear engineering Meijuan Zhang verfasserin aut Qiang Zhang verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 197059-197067 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:197059-197067 https://doi.org/10.1109/ACCESS.2020.3034491 kostenfrei https://doaj.org/article/3cd8a762e655467fafc8b8b85c36a085 kostenfrei https://ieeexplore.ieee.org/document/9241728/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 197059-197067
allfields_unstemmed	10.1109/ACCESS.2020.3034491 doi (DE-627)DOAJ054389895 (DE-599)DOAJ3cd8a762e655467fafc8b8b85c36a085 DE-627 ger DE-627 rakwb eng TK1-9971 Yan Zhang verfasserin aut Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme. Auto-berthing underactuated marine surface vehicle concise backstepping differential homeomorphic Electrical engineering. Electronics. Nuclear engineering Meijuan Zhang verfasserin aut Qiang Zhang verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 197059-197067 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:197059-197067 https://doi.org/10.1109/ACCESS.2020.3034491 kostenfrei https://doaj.org/article/3cd8a762e655467fafc8b8b85c36a085 kostenfrei https://ieeexplore.ieee.org/document/9241728/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 197059-197067
allfieldsGer	10.1109/ACCESS.2020.3034491 doi (DE-627)DOAJ054389895 (DE-599)DOAJ3cd8a762e655467fafc8b8b85c36a085 DE-627 ger DE-627 rakwb eng TK1-9971 Yan Zhang verfasserin aut Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme. Auto-berthing underactuated marine surface vehicle concise backstepping differential homeomorphic Electrical engineering. Electronics. Nuclear engineering Meijuan Zhang verfasserin aut Qiang Zhang verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 197059-197067 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:197059-197067 https://doi.org/10.1109/ACCESS.2020.3034491 kostenfrei https://doaj.org/article/3cd8a762e655467fafc8b8b85c36a085 kostenfrei https://ieeexplore.ieee.org/document/9241728/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 197059-197067
allfieldsSound	10.1109/ACCESS.2020.3034491 doi (DE-627)DOAJ054389895 (DE-599)DOAJ3cd8a762e655467fafc8b8b85c36a085 DE-627 ger DE-627 rakwb eng TK1-9971 Yan Zhang verfasserin aut Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping 2020 Text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme. Auto-berthing underactuated marine surface vehicle concise backstepping differential homeomorphic Electrical engineering. Electronics. Nuclear engineering Meijuan Zhang verfasserin aut Qiang Zhang verfasserin aut In IEEE Access IEEE, 2014 8(2020), Seite 197059-197067 (DE-627)728440385 (DE-600)2687964-5 21693536 nnns volume:8 year:2020 pages:197059-197067 https://doi.org/10.1109/ACCESS.2020.3034491 kostenfrei https://doaj.org/article/3cd8a762e655467fafc8b8b85c36a085 kostenfrei https://ieeexplore.ieee.org/document/9241728/ kostenfrei https://doaj.org/toc/2169-3536 Journal toc kostenfrei GBV_USEFLAG_A SYSFLAG_A GBV_DOAJ SSG-OLC-PHA GBV_ILN_11 GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_39 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_63 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_95 GBV_ILN_105 GBV_ILN_110 GBV_ILN_151 GBV_ILN_161 GBV_ILN_170 GBV_ILN_213 GBV_ILN_230 GBV_ILN_285 GBV_ILN_293 GBV_ILN_370 GBV_ILN_602 GBV_ILN_2014 GBV_ILN_4012 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4126 GBV_ILN_4249 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4335 GBV_ILN_4338 GBV_ILN_4367 GBV_ILN_4700 AR 8 2020 197059-197067
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source	In IEEE Access 8(2020), Seite 197059-197067 volume:8 year:2020 pages:197059-197067
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topic_facet	Auto-berthing underactuated marine surface vehicle concise backstepping differential homeomorphic Electrical engineering. Electronics. Nuclear engineering
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authorswithroles_txt_mv	Yan Zhang @@aut@@ Meijuan Zhang @@aut@@ Qiang Zhang @@aut@@
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callnumber-first	T - Technology
author	Yan Zhang
spellingShingle	Yan Zhang misc TK1-9971 misc Auto-berthing misc underactuated marine surface vehicle misc concise backstepping misc differential homeomorphic misc Electrical engineering. Electronics. Nuclear engineering Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping
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topic_title	TK1-9971 Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping Auto-berthing underactuated marine surface vehicle concise backstepping differential homeomorphic
topic	misc TK1-9971 misc Auto-berthing misc underactuated marine surface vehicle misc concise backstepping misc differential homeomorphic misc Electrical engineering. Electronics. Nuclear engineering
topic_unstemmed	misc TK1-9971 misc Auto-berthing misc underactuated marine surface vehicle misc concise backstepping misc differential homeomorphic misc Electrical engineering. Electronics. Nuclear engineering
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title	Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping
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title_sort	auto-berthing control of marine surface vehicle based on concise backstepping
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title_auth	Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping
abstract	An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme.
abstractGer	An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme.
abstract_unstemmed	An auto-berthing control strategy for 3-DOF (degrees of freedom) underactuated marine surface vehicles based on concise backstepping is presented in this paper. Firstly, differential homeomorphic method is used to simplify and make the 3-DOF underactuated marine surface vehicle motion model without external disturbances and model uncertainties has the structure of the general nonlinear system. Then, an auto-berthing controller for the transformed marine surface vehicle model is designed based on the backstepping, dynamic surface control (DSC) technology and Lyapunov direct method. The concise backstepping method can not only simplify the design process of the nonlinear controller but decrease the number of design parameters. Further, in order to illustrate the robustness of the designed controller, simulation experiments are carried out under the external disturbances. Theoretical analysis is provided to prove that the designed controller has a concise structure and is easy to implement in engineering. In addition, it can ensure that all signals of the system are bounded. Simulation results illustrate the effectiveness of the developed control scheme.
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title_short	Auto-Berthing Control of Marine Surface Vehicle Based on Concise Backstepping
url	https://doi.org/10.1109/ACCESS.2020.3034491 https://doaj.org/article/3cd8a762e655467fafc8b8b85c36a085 https://ieeexplore.ieee.org/document/9241728/ https://doaj.org/toc/2169-3536
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