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Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles

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Robot 2023: Sixth Iberian Robotics Conference (ROBOT 2023)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 978))

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Abstract

This paper focuses on the development of an adaptive backstepping control for underactuated marine vehicles. In order to estimate system uncertainty, a fuzzy system with a simple structure is utilized. A novel dynamical formulation has been developed for deriving the control signal. The Lyapunov function has been employed to formally prove the Semi-globally Practically Finite-time Stability of the overall closed loop system. Simulations are conducted on an underactuated marine vehicle to assess the effectiveness of the proposed control approach. These simulations consider various challenging scenarios, including external disturbances, unmodeled dynamics, time-varying water currents, and lateral velocities. Furthermore, a comparison analysis is performed.

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Acknowledgments

The authors acknowledge the financial support of the Foundation for Science and Technology (FCT/MCTES) in the framework of the Associated Laboratory - Advanced Production and Intelligent Systems (AL ARISE, ref. LA/P/0112/2020), the R &D Unit SYSTEC (Base UIDB/00147/2020 and Programmatic UIDP/00147/2020 funds), and project RELIABLE - Advances in control design methodologies for safety critical systems applied to robotics (ref. PTDC/EEI-AUT/3522/2020) both funded by national funds through the FCT/MCTES (PIDDAC). The first author was supported by a Ph.D. Scholarship, grant 2022.11470.BD from FCT, Portugal.

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Authors and Affiliations

  1. Research Center for Systems and Technologies (SYSTEC), ARISE, and Department of Electrical and Computer Engineering, Faculty of Engineering, University of Porto, 4200-465, Porto, Portugal

    G. Reza Nazmara & A. Pedro Aguiar

Authors
  1. G. Reza Nazmara
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  2. A. Pedro Aguiar
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Corresponding author

Correspondence to G. Reza Nazmara .

Editor information

Editors and Affiliations

  1. Dep. de Eng. Electrotecnica e de Computadores, University of Coimbra, Coimbra, Portugal

    Lino Marques

  2. Department of Electrónica Industrial, University of Minho, Escola de Engenharia, Guimarães, Portugal

    Cristina Santos

  3. Department of Electrical Engineering, ESTIG, Polytechnic Institute of Bragança, Bragança, Portugal

    José Luís Lima

  4. Centro Universitario de la Defensa, Zaragoza, Spain

    Danilo Tardioli

  5. Centre for Automation and Robotics UPM-CSIC, Universidad Politécnica de Madrid, Madrid, Spain

    Manuel Ferre

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Nazmara, G.R., Aguiar, A.P. (2024). Robust Adaptive Finite-Time Motion Control of Underactuated Marine Vehicles. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 978. Springer, Cham. https://doi.org/10.1007/978-3-031-59167-9_15

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