Article Dans Une Revue IEEE Transactions on Control Systems Technology Année : 2024

Tracking Control of Docking Maneuvers for a Fully-Actuated Surface Vessel using Backstepping

Leticia Mayumi Kinjo
Tomas Ménard
Stefan Wirtensohn
Olivier Gehan
Johannes Reuter

Résumé

In this paper, trajectory tracking for a fully-actuated surface vessel while performing automated docking is addressed. Environmental disturbances, integral action, as well as physical actuator quantities are directly integrated into the approach, avoiding the need for additional control allocation. By employing a backstepping design, uniform local exponential stability is proven. The performance of the controller is demonstrated by full-scale experiments. Moreover, a comparison between the physical experiments and simulations is provided.
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Dates et versions

hal-04581899 , version 1 (21-05-2024)

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Leticia Mayumi Kinjo, Tomas Ménard, Stefan Wirtensohn, Olivier Gehan, Johannes Reuter. Tracking Control of Docking Maneuvers for a Fully-Actuated Surface Vessel using Backstepping. IEEE Transactions on Control Systems Technology, 2024, pp.1-8. ⟨10.1109/TCST.2024.3385666⟩. ⟨hal-04581899⟩
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