Tracking Control of Docking Maneuvers for a Fully Actuated Surface Vessel Using Backstepping
- In this brief, trajectory tracking for a fully actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.
| Author: | Leticia Mayumi KinjoORCiD, Tomas MénardORCiD, Stefan WirtensohnORCiD, Olivier GehanORCiD, Johannes ReuterORCiD |
|---|---|
| DOI: | https://doi.org/10.1109/TCST.2024.3385666 |
| ISSN: | 1063-6536 |
| eISSN: | 1558-0865 |
| Parent Title (English): | IEEE Transactions on Control Systems Technology |
| Publisher: | IEEE |
| Document Type: | Article |
| Language: | English |
| Year of Publication: | 2024 |
| Release Date: | 2024/07/01 |
| Tag: | Autonomous vessel; Backstepping control; Trajectory tracking |
| Edition: | Early Access |
| Page Number: | 8 |
| Note: | Volltextzugriff für Angehörige der Hochschule Konstanz via IEEE Xplore möglich. |
| Institutes: | Institut für Systemdynamik - ISD |
| Relevance: | Peer reviewed Publikation in Master Journal List |
| Open Access?: | Nein |
| Licence (German): |  Urheberrechtlich geschützt |
