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Stabilizing Control of an Unmanned Surface Vehicle Pushing a Floating Load

Rosario, Rafael Vida Castro; Cunha, Jose Paulo V.S.; Garcia Rosa, Paula Bastos
Peer reviewed, Journal article
Published version
Åpne
Rosario (Låst)
Permanent lenke
https://hdl.handle.net/11250/2779827
Utgivelsesdato
2020
Metadata
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Samlinger
  • Institutt for elkraftteknikk [1970]
  • Publikasjoner fra CRIStin - NTNU [26751]
Originalversjon
10.1007/s12555-019-0677-1
Sammendrag
In this paper, the automatic control of a single unmanned surface vehicle (USV) pushing a floating load is developed and theoretically analyzed. This represents a challenging control problem, since the manipulated load is underactuated and its open-loop dynamics is inherently unstable. Thus, a stabilizing controller must be designed. To this end, a scheme that combines partial feedback linearization with local linearization of the remaining nonlinear terms is proposed. Such scheme simplifies the design of a variable structure controller, that has robustness characteristics to parametric uncertainties and matched disturbances. The proposed closed-loop control system has local stability properties. Small-scale experimental results in calm waters, and simulation results, illustrate the performance of the proposed control system.
Utgiver
Springer
Tidsskrift
International Journal of Control, Automation and Systems
Opphavsrett
This version of the article will not be available due to copyright restrictions by Springer

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