The 7th IFAC Symposium on Intelligent Autonomous Vehicles 2010

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Curved Trajectory Tracking for Surface Vessels under Constant External Disturbances

Mernout Burger
Norwegian University of Science and Technology
Norway

Alexey Pavlov
Norwegian University of Science and Technology
Norway

Kristin Ytterstad Pettersen
Norwegian University of Science and Technology
Norway

Abstract:
Controlling a vessel in the presence of constant,
unknown disturbances requires control methods capable of
adjusting to this situation. In this paper we use the multivariable
circle criterion, extended to linear time-varying systems,
and propose a method for curved trajectory tracking based
on conditional integrators. This control method combines the
robustness of sliding mode control and integral action, while
avoiding their inherent drawbacks like chattering and integrator
wind-up. The problem of curved trajectory tracking in the
horizontal plane is discussed, showing a separation between the
design of the tracking control law and the disturbance rejection
control law. Simulation results are provided to illustrate the
effectiveness of the proposed method.

 

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