A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels

Autores
Valenciaga, Fernando
Año de publicación
2014
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This paper presents a path following control design for an autonomous surface vessel. The boat considered presents three degrees of freedom being driven by two independent propellers placed at its stern and is represented by a highly nonlinear underactuated dynamic model. The control objective is to reach and closely follow a pre-specified trajectory, operating in an environment perturbed by currents and waves. This objective is achieved through a control scheme based on the interaction of guidance laws synthesized by Lyapunov techniques and a high order sliding mode control approach based on the Super Twisting Algorithm. This methodology allows designing robust and simple controllers that avoid chattering effects on sliding surfaces, producing continuous control actions and presenting a reduced computational burden. The control performance is analyzed through representative simulations.
Fil: Valenciaga, Fernando. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; Argentina
Materia
Autonomous Surface Vessels
Underactuated Systems
High Order Sliding Mode
Path Following Control
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/33002
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/33002
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling A Second Order Sliding Mode Path Following Control for Autonomous Surface VesselsValenciaga, FernandoAutonomous Surface VesselsUnderactuated SystemsHigh Order Sliding ModePath Following Controlhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This paper presents a path following control design for an autonomous surface vessel. The boat considered presents three degrees of freedom being driven by two independent propellers placed at its stern and is represented by a highly nonlinear underactuated dynamic model. The control objective is to reach and closely follow a pre-specified trajectory, operating in an environment perturbed by currents and waves. This objective is achieved through a control scheme based on the interaction of guidance laws synthesized by Lyapunov techniques and a high order sliding mode control approach based on the Super Twisting Algorithm. This methodology allows designing robust and simple controllers that avoid chattering effects on sliding surfaces, producing continuous control actions and presenting a reduced computational burden. The control performance is analyzed through representative simulations.Fil: Valenciaga, Fernando. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; ArgentinaChinese Automatic Control Society2014-09info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/33002Valenciaga, Fernando; A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels; Chinese Automatic Control Society; Asian Journal of Control; 16; 5; 9-2014; 1515-15211561-8625CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/doi/10.1002/asjc.840info:eu-repo/semantics/altIdentifier/url/http://onlinelibrary.wiley.com/doi/10.1002/asjc.840/abstractinfo:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:31:47Zoai:ri.conicet.gov.ar:11336/33002instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:31:47.565CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
title A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
spellingShingle A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
Valenciaga, Fernando
Autonomous Surface Vessels
Underactuated Systems
High Order Sliding Mode
Path Following Control
title_short A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
title_full A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
title_fullStr A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
title_full_unstemmed A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
title_sort A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels
dc.creator.none.fl_str_mv Valenciaga, Fernando
author Valenciaga, Fernando
author_facet Valenciaga, Fernando
author_role author
dc.subject.none.fl_str_mv Autonomous Surface Vessels
Underactuated Systems
High Order Sliding Mode
Path Following Control
topic Autonomous Surface Vessels
Underactuated Systems
High Order Sliding Mode
Path Following Control
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv This paper presents a path following control design for an autonomous surface vessel. The boat considered presents three degrees of freedom being driven by two independent propellers placed at its stern and is represented by a highly nonlinear underactuated dynamic model. The control objective is to reach and closely follow a pre-specified trajectory, operating in an environment perturbed by currents and waves. This objective is achieved through a control scheme based on the interaction of guidance laws synthesized by Lyapunov techniques and a high order sliding mode control approach based on the Super Twisting Algorithm. This methodology allows designing robust and simple controllers that avoid chattering effects on sliding surfaces, producing continuous control actions and presenting a reduced computational burden. The control performance is analyzed through representative simulations.
Fil: Valenciaga, Fernando. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina. Universidad Nacional de La Plata; Argentina
description This paper presents a path following control design for an autonomous surface vessel. The boat considered presents three degrees of freedom being driven by two independent propellers placed at its stern and is represented by a highly nonlinear underactuated dynamic model. The control objective is to reach and closely follow a pre-specified trajectory, operating in an environment perturbed by currents and waves. This objective is achieved through a control scheme based on the interaction of guidance laws synthesized by Lyapunov techniques and a high order sliding mode control approach based on the Super Twisting Algorithm. This methodology allows designing robust and simple controllers that avoid chattering effects on sliding surfaces, producing continuous control actions and presenting a reduced computational burden. The control performance is analyzed through representative simulations.
publishDate 2014
dc.date.none.fl_str_mv 2014-09
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/33002
Valenciaga, Fernando; A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels; Chinese Automatic Control Society; Asian Journal of Control; 16; 5; 9-2014; 1515-1521
1561-8625
CONICET Digital
CONICET
url http://hdl.handle.net/11336/33002
identifier_str_mv Valenciaga, Fernando; A Second Order Sliding Mode Path Following Control for Autonomous Surface Vessels; Chinese Automatic Control Society; Asian Journal of Control; 16; 5; 9-2014; 1515-1521
1561-8625
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/doi/10.1002/asjc.840
info:eu-repo/semantics/altIdentifier/url/http://onlinelibrary.wiley.com/doi/10.1002/asjc.840/abstract
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Chinese Automatic Control Society
publisher.none.fl_str_mv Chinese Automatic Control Society
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614329374081024
score 13.070432

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