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Coordinated Trajectory-Tracking Control of a Marine Aerial-Surface Heterogeneous System

Authors
Wang, NingAhn, Choon Ki
Issue Date
12월-2021
Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Keywords
Unmanned aerial vehicles; Multi-stage noise shaping; Vehicle dynamics; Trajectory tracking; System dynamics; Mechatronics; IEEE transactions; Accurate trajectory tracking; coordinated trajectory-tracking control (CTTC); finite-time observer; marine aerial-surface heterogeneous (MASH) system
Citation
IEEE-ASME TRANSACTIONS ON MECHATRONICS, v.26, no.6, pp.3198 - 3210
Indexed
SCIE
SCOPUS
Journal Title
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume
26
Number
6
Start Page
3198
End Page
3210
URI
https://scholar.korea.ac.kr/handle/2021.sw.korea/135618
DOI
10.1109/TMECH.2021.3055450
ISSN
1083-4435
Abstract
In this article, for a marine aerial-surface heterogeneous (MASH) system composed by a quadrotor unmanned aerial vehicle (UAV) and an unmanned surface vehicle (USV) with heterogeneity, completely unknown dynamics and disturbances, the accurate trajectory-tracking problem is solved by creating a novel coordinated trajectory-tracking control (CTTC) scheme. A family of coordinate transformations are devised to convert the MASH system tracking error dynamics into translation-rotation cascade manners, whereby the heterogeneity is removed and finite-time observers for complex unknowns are facilitated. In conjunction with sliding mode based rotation error dynamics, distributed tracking controllers for the quadrotor UAV and the USV are independently synthesized such that cascade tracking error dynamics are globally asymptotically stable. With the aid of cascade and Lyapunov analysis, the entire CTTC solution to the accurate trajectory-tracking problem of the MASH system is eventually put forward. Simulation results and comprehensive comparisons on a prototype MASH system demonstrate the effectiveness and superiority of the proposed CTTC scheme.
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공과대학 (전기전자공학부)
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