Trajectory tracking of underactuated surface vessels: a linear algebra approach

Autores
Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Godoy Bordes, Sebastian Alejandro; Mut, Vicente Antonio; Ortiz, Alberto Osacar
Año de publicación
2013
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
This brief presents the design of a controller that allows an underactuated vessel to track a reference trajectory in the x−y plane. A trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. Such a model is represented by numerical methods and, from this approach, the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero, and the calculation of control actions are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented here and complete the previous work of the authors. Simulation results show the good performance of the proposed control system.
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Mut, Vicente Antonio. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Ortiz, Alberto Osacar. Universidad Nacional de San Juan; Argentina
Materia
Control System Design
Linear Algebra
Nonlinear Model
Tracking Trajectory Control
Ships
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:11336/25272
Acceder
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network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Trajectory tracking of underactuated surface vessels: a linear algebra approachSerrano, Mario EmanuelScaglia, Gustavo Juan EduardoGodoy Bordes, Sebastian AlejandroMut, Vicente AntonioOrtiz, Alberto OsacarControl System DesignLinear AlgebraNonlinear ModelTracking Trajectory ControlShipshttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This brief presents the design of a controller that allows an underactuated vessel to track a reference trajectory in the x−y plane. A trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. Such a model is represented by numerical methods and, from this approach, the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero, and the calculation of control actions are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented here and complete the previous work of the authors. Simulation results show the good performance of the proposed control system.Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Mut, Vicente Antonio. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Ortiz, Alberto Osacar. Universidad Nacional de San Juan; ArgentinaInstitute of Electrical and Electronics Engineers2013-07info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/25272Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Godoy Bordes, Sebastian Alejandro; Mut, Vicente Antonio; Ortiz, Alberto Osacar; Trajectory tracking of underactuated surface vessels: a linear algebra approach; Institute of Electrical and Electronics Engineers; Ieee Transactions On Control Systems Technology; 22; 3; 7-2013; 1103-11111063-65361558-0865CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/abstract/document/6558532/info:eu-repo/semantics/altIdentifier/doi/10.1109/TCST.2013.2271505info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:01:15Zoai:ri.conicet.gov.ar:11336/25272instacron: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 10:01:15.27CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Trajectory tracking of underactuated surface vessels: a linear algebra approach
title Trajectory tracking of underactuated surface vessels: a linear algebra approach
spellingShingle Trajectory tracking of underactuated surface vessels: a linear algebra approach
Serrano, Mario Emanuel
Control System Design
Linear Algebra
Nonlinear Model
Tracking Trajectory Control
Ships
title_short Trajectory tracking of underactuated surface vessels: a linear algebra approach
title_full Trajectory tracking of underactuated surface vessels: a linear algebra approach
title_fullStr Trajectory tracking of underactuated surface vessels: a linear algebra approach
title_full_unstemmed Trajectory tracking of underactuated surface vessels: a linear algebra approach
title_sort Trajectory tracking of underactuated surface vessels: a linear algebra approach
dc.creator.none.fl_str_mv Serrano, Mario Emanuel
Scaglia, Gustavo Juan Eduardo
Godoy Bordes, Sebastian Alejandro
Mut, Vicente Antonio
Ortiz, Alberto Osacar
author Serrano, Mario Emanuel
author_facet Serrano, Mario Emanuel
Scaglia, Gustavo Juan Eduardo
Godoy Bordes, Sebastian Alejandro
Mut, Vicente Antonio
Ortiz, Alberto Osacar
author_role author
author2 Scaglia, Gustavo Juan Eduardo
Godoy Bordes, Sebastian Alejandro
Mut, Vicente Antonio
Ortiz, Alberto Osacar
author2_role author
author
author
author
dc.subject.none.fl_str_mv Control System Design
Linear Algebra
Nonlinear Model
Tracking Trajectory Control
Ships
topic Control System Design
Linear Algebra
Nonlinear Model
Tracking Trajectory Control
Ships
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 brief presents the design of a controller that allows an underactuated vessel to track a reference trajectory in the x−y plane. A trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. Such a model is represented by numerical methods and, from this approach, the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero, and the calculation of control actions are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented here and complete the previous work of the authors. Simulation results show the good performance of the proposed control system.
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Godoy Bordes, Sebastian Alejandro. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Mut, Vicente Antonio. Universidad Nacional de San Juan; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Ortiz, Alberto Osacar. Universidad Nacional de San Juan; Argentina
description This brief presents the design of a controller that allows an underactuated vessel to track a reference trajectory in the x−y plane. A trajectory tracking controller designed originally for robotic systems is applied for underactuated surface ships. Such a model is represented by numerical methods and, from this approach, the control actions for an optimal operation of the system are obtained. Its main advantage is that the condition for the tracking error tends to zero, and the calculation of control actions are obtained solving a system of linear equations. The proofs of convergence to zero of the tracking error are presented here and complete the previous work of the authors. Simulation results show the good performance of the proposed control system.
publishDate 2013
dc.date.none.fl_str_mv 2013-07
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/11336/25272
Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Godoy Bordes, Sebastian Alejandro; Mut, Vicente Antonio; Ortiz, Alberto Osacar; Trajectory tracking of underactuated surface vessels: a linear algebra approach; Institute of Electrical and Electronics Engineers; Ieee Transactions On Control Systems Technology; 22; 3; 7-2013; 1103-1111
1063-6536
1558-0865
CONICET Digital
CONICET
url http://hdl.handle.net/11336/25272
identifier_str_mv Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Godoy Bordes, Sebastian Alejandro; Mut, Vicente Antonio; Ortiz, Alberto Osacar; Trajectory tracking of underactuated surface vessels: a linear algebra approach; Institute of Electrical and Electronics Engineers; Ieee Transactions On Control Systems Technology; 22; 3; 7-2013; 1103-1111
1063-6536
1558-0865
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/http://ieeexplore.ieee.org/abstract/document/6558532/
info:eu-repo/semantics/altIdentifier/doi/10.1109/TCST.2013.2271505
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
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
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_ 1844613803764875264
score 13.070432

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