Control of Ships and Underwater Vehicles (eBook)

Doctor Do’s major contribution to systems and control is his research on control of systems subject to nonholonomic constraints such as underactuated mechanical systems including surface ships, underwater vehicles, mobile robots and aircraft, and control of networks of multiple vehicles. He has made significant contribution to the understanding dynamics and developing novel methods to design controllers for these systems. For nonholonomic systems with strong nonlinear drifts and unknown parameters, he developed a method called "input-to-state scaling" to design a global asymptotic stabilizer. For land, air and ocean vehicles, he proposed various solutions to the problems of stabilization, trajectory-tracking and path-following. He introduced a methodology called "dynamics from a different view", which results in several ways to derive coordinate transformations to overcome difficulties in controlling these vehicles. His involvement with Western Australia ship- and air-vehicle-building industries (Austal, Shipdynamics, Entecho) has enriched his industrial activities and practical experience. Currently, he is a senior lecturer in the School of Mechanical Engineering at the University of Western Australia. He teaches "Advanced Control Engineering" and "Navigation and Marine Control Systems" units.Professor Jie Pan is the Director of the Centre for Acoustics, Dynamics and Vibration at the School of Mechanical Engineering, University of Western Australia. His contribution to the field of applied control was initially in active control of noise and structural vibration. Since 1999, he and his research team have worked on the control of ocean vessel vibration and motion, where he played a role not just as a team leader and project organiser, but also provided physical insight into the understanding of system dynamics and their role in controller design. He also established several fundamental and industrial research projects on active control of marine vessels’ vibration, and active vibration control of marine risers, from which several outstanding PhD, Masters and final-year theses were generated and some problems of ride control systems in the Western Australian ship-building industry were solved. Many results described in this monograph are the products or by-products of those projects and thesis work. Professor Pan’s teaching covers classical control, advanced control and mechatronics, vibration and signal processing, and acoustical engineering.

Advances in Industrial Control 2
Advances in Industrial Control 6
Series Editors’ Foreword 9
Preface 11
Acknowledgements 12
Contents 13
Introduction 18
1.1 Overview of Nonlinear Control Developments 18
1.2 Difficulties in Control of Underactuated Ocean Vessels 19
1.3 Organization of the Book 22
Part I Mathematical Tools 25
Mathematical Preliminaries 26
2.1 Lyapunov Stability 26
2.1.1 Definitions 27
2.1.2 Lemmas and Theorems 28
2.1.3 Stability of Cascade Systems 31
2.2 Input-to-state Stability 33
2.3 Control Lyapunov Functions 35
2.4 Backstepping 36
2.5 Stabilization Under Uncertainties 38
2.6 Barbalat-like Lemmas 40
2.7 Controllability and Observability 2.7.1 Controllability and Observability of Linear Time-invariant Systems 42
2.7.2 Controllability and Observability of Linear Time-varying Systems 44
2.7.3 Controllability and Observability of Nonlinear Systems 46
2.7.4 Brockett’s Theorem on Feedback Stabilization 49
2.8 Conclusions 49
Part II Modeling and Control Properties of Ocean Vessels 51
Modeling of Ocean Vessels 52
3.1 Introduction 52
3.2 Basic Motion Tasks 53
3.3 Modeling of Ocean Vessels 55
3.3.1 Kinematics 57
3.3.2 Kinetics 58
3.4 Standard Models for Ocean Vessels 67
3.4.1 Three Degrees of Freedom Horizontal Model 67
3.4.2 Six Degrees of Freedom Model 70
3.5 Conclusions 73
Control Properties and PreviousWork on Control of Ocean Vessels 74
4.1 Controllability Properties 4.1.1 Acceleration Constraints 74
4.1.2 Kinematic Constraints 75
4.1.3 Controllability at a Point 77
4.1.4 Controllability About a Trajectory 79
4.2 PreviousWork on Control of Underactuated Ocean Vessels 81
4.2.1 Control of Nonholonomic Systems 81
4.2.2 Control of Underactuated Ships and Underwater Vehicles 82
4.3 Conclusions 99
Part III Control of Underactuated Ships 100
Trajectory-tracking Control of Underactuated Ships 101
5.1 Control Objective 101
5.2 Control Design 104
5.3 Stability Analysis 108
5.4 Simulations 115
5.5 Conclusions 117
Simultaneous Stabilization and Trajectory- tracking Control of Underactuated Ships 120
6.1 Control Objective 120
6.2 Control Design 122
6.3 126
Stability 126
Analysis 126
6.4 Selection of Design Constants 135
6.5 Sensitivity Analysis 136
6.6 Simulations 138
6.7 Conclusions 140
Partial-state and Output Feedback Trajectory- tracking Control of Underactuated Ships 145
7.1 Control Objective 145
7.2 Partial-state Feedback 7.2.1 Observer Design 147
7.2.2 Coordinate Transformations 150
7.2.3 Control Design 151
7.2.4 Stability Analysis 154
7.2.5 Selection of Design Constants 156
7.3 Output Feedback 7.3.1 Observer Design 157
7.3.2 161
Coordinate Transformations 161
7.3.3 Control Design 164
7.3.4 Stability Analysis 166
7.4 Robustness Discussion 169
7.5 Simulations 170
7.6 Conclusions 171
Path-tracking Control of Underactuated Ships 174
8.1 Full-State Feedback 8.1.1 Control Objective 174
8.1.2 Coordinate Transformations 177
8.1.3 Control Design 180
8.1.4 Stability Analysis 183
8.1.5 Dealing with Environmental Disturbances 185
8.1.6 Numerical Simulations 189
8.2 Output Feedback 8.2.1 Control Objective 192
8.2.2 Coordinate Transformations 195
8.2.3 Observer Design 197
8.2.4 Control Design with Integral Action 199
8.2.5 Stability Analysis 205
8.2.6 Discussion 209
8.2.7 Experimental Results 214
8.3 Conclusions 220
Way-point Tracking Control of Underactuated Ships 221
9.1 Control Objective 221
9.2 Full-state Feedback 9.2.1 Control Design 222
9.2.2 Stability Analysis 225
9.3 Output Feedback 232
9.3.1 Observer Design 233
9.3.2 Control Design 236
9.3.3 Stability Analysis 238
9.4 Simulations 245
9.4.1 State Feedback Simulation Results 245
9.4.2 Output Feedback Simulation Results 246
9.5 Conclusions 247
Path-following of Underactuated Ships Using Serret– Frenet Coordinates 250
10.1 Control Objective 250
10.2 State Feedback 10.2.1 Control Design 253
10.2.2 Stability Analysis 256
10.3 Output Feedback 10.3.1 Observer Design 263
10.3.2 Control Design 266
10.3.3 Stability Analysis 269
10.4 Simulations 271
10.4.1 State Feedback Simulation Results 271
10.4.2 Output Feedback Simulation Results 272
10.5 Conclusions 272
Path-following of Underactuated Ships Using Polar Coordinates 277
11.1 Control Objective 277
11.2 Control Design 11.2.1 Step 1 280
11.2.2 Step 2 282
11.3 284
Stability 284
Analysis 284
11.4 Discussion of the Initial Condition 288
11.5 Parking and Point-to-point Navigation 11.5.1 Parking 290
11.5.2 Point-to-point Navigation 291
11.6 Numerical Simulations 291
11.6.1 Path-following Simulation Results 293
11.6.2 Point-to-point Simulation Results 293
11.6.3 Parking Simulation Results 294
11.7 Conclusions 295
Part IV Control of Underactuated Underwater Vehicles 298
Trajectory-tracking Control of Underactuated Underwater Vehicles 299
12.1 Control Objective 299
12.2 Coordinate Transformations 301
12.3 Control Design 305
12.3.1 Step 1 306
12.3.2 Step 2 306
12.4 Stability Analysis 308
12.5 Simulations 312
12.6 Conclusions 313
Path-following of Underactuated Underwater Vehicles 316
13.1 Control Objective 316
13.2 Coordinate Transformations 320
13.3 Control Design 326
13.4 Stability Analysis 331
13.5 Discussion of the Initial Condition 337
13.6 Parking and Point-to-point Navigation 13.6.1 Parking 337
13.6.2 Point-to-point Navigation 338
13.7 Numerical Simulations 339
13.8 Conclusions 340
Part V Control of Other Underactuated mechanical Systems 342
Control of Other Underactuated Mechanical Systems 343
14.1 Mobile Robots 14.1.1 Basic Motion Tasks 343
14.1.2 Modeling and Control Properties 344
14.1.3 Output Feedback Simultaneous Stabilization and Trajectory- tracking 351
14.1.4 Output Feedback Path-following 362
14.1.5 Notes and References 368
14.2 Vertical Take-off and Landing Aircraft 14.2.1 Control Objective 370
14.2.2 Observer Design 371
14.2.3 Coordinate Transformations 372
14.2.4 Control Design 375
14.2.5 Simulations 381
14.2.6 Notes and References 383
14.3 Conclusions 384
Conclusions and Perspectives 385
15.1 Summary of the Book 385
15.2 Perspectives and Open Problems 387
15.2.1 Further Issues on Control of Single Underactuated Ocean Vessels 388
15.2.2 Coordination Control of Multiple Underactuated Ocean Vessels 389
References 391
Index 400