KMS Of Academy of mathematics and systems sciences, CAS
| Extended state Kalman filter-based path following control of underactuated autonomous vessels | |
| Zhang, Yi1; Xue, Wenchao2; Sun, Li1; Shen, Jiong1 | |
| 2021-04-06 | |
| Source Publication | TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL
 |
| ISSN | 0142-3312 |
| Pages | 11 |
| Abstract | Path following control of underactuated autonomous vessels remains a challenging issue in recent years due to its inherent underactuation and nonlinearities as well as the widely existing disturbances in the marine environment. In order to accommodate all the difficulties simultaneously, a novel extended state Kalman filter, which adopts the idea of extended state observer in estimating and compensating system lumped disturbance and optimizes the filter gain in a real-time fashion using Kalman filter technique, is constructed to estimate system states and disturbances in the presence of model uncertainties and measurement noise. Based on the estimated states and disturbances, an enhanced model predictive controller is proposed to steer the underactuated autonomous vessels along a predefined path at a desired speed after considering system state and input constraints. Simulation results have proved the superiority of extended state Kalman filter over traditional extended state observer and extended Kalman filter under various disturbance and noise scenarios. Moreover, the comparison results with conventional proportion-integration-differentiation controller have demonstrated the feasibility and efficacy of the proposed extended state Kalman filter-based model predictive controller in both set-point tracking and disturbance rejection. |
| Keyword | Path following underactuated autonomous vessel model predictive control extended state Kalman filter |
| DOI | 10.1177/0142331221994410 |
| Indexed By | SCI |
| Language | 英语 |
| Funding Project | National Natural Science Foundation of China (NSFC)[51576041] |
| WOS Research Area | Automation & Control Systems ; Instruments & Instrumentation |
| WOS Subject | Automation & Control Systems ; Instruments & Instrumentation |
| WOS ID | WOS:000682918800001 |
| Publisher | SAGE PUBLICATIONS LTD |
| Citation statistics | |
| Document Type | 期刊论文 |
| Identifier | http://ir.amss.ac.cn/handle/2S8OKBNM/59042 |
| Collection | 中国科学院数学与系统科学研究院 |
| Corresponding Author | Shen, Jiong |
| Affiliation | 1.Southeast Univ, Sch Energy & Environm, Minist Educ, Key Lab Energy Thermal Convers & Control, 2 Sipailou, Nanjing 210096, Jiangsu, Peoples R China 2.Chinese Acad Sci, Acad Math & Syst Sci, NCMIS, LSC, Beijing, Peoples R China |
| Recommended Citation GB/T 7714 | Zhang, Yi,Xue, Wenchao,Sun, Li,et al. Extended state Kalman filter-based path following control of underactuated autonomous vessels[J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,2021:11. |
| APA | Zhang, Yi,Xue, Wenchao,Sun, Li,&Shen, Jiong.(2021).Extended state Kalman filter-based path following control of underactuated autonomous vessels.TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL,11. |
| MLA | Zhang, Yi,et al."Extended state Kalman filter-based path following control of underactuated autonomous vessels".TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL (2021):11. |
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