Nonlinear steering control under input magnitude and rate constraints with exponential convergence

Autor:	Suyama, Rin, Satoh, Satoshi, Maki, Atsuo
Rok vydání:	2023
Předmět:	Electrical Engineering and Systems Science - Systems and Control Mathematics - Optimization and Control
Druh dokumentu:	Working Paper
Popis:	A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted into the tracking problem for a strict-feedback system without any input constraints. To derive this system, hyperbolic tangent ($\tanh$) function and auxiliary variables are introduced to deal with the input constraints. Furthermore, using the feature of the derivative of $\tanh$ function, auxiliary systems are successfully derived in the strict-feedback form. The backstepping method is utilized to construct the feedback control law for the resulting cascade system. The proposed steering control is verified in numerical experiments, and the result shows that the tracking of the target heading angle is successful using the proposed control law. Comment: 12 pages, 6 figures, a preprint submitted to the Journal of Marine Science and Technology
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2310.16377 Zobrazit plný text záznamu View this record from Arxiv