Networked Predictive Trajectory Tracking Control for Underactuated USV with Time-Varying Delays
This study explores the control framework for the trajectory tracking problem concerning unmanned surface vessels (USVs) in the presence of time-varying communication delays. To address the aforementioned problem, a novel networked predictive sliding mode control architecture is proposed by integrat...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-01-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/13/1/132 |
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| _version_ | 1832588190962155520 |
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| author | Tao Lei Yuanqiao Wen Yi Yu Minglong Zhang Xin Xiong Kang Tian |
| author_facet | Tao Lei Yuanqiao Wen Yi Yu Minglong Zhang Xin Xiong Kang Tian |
| author_sort | Tao Lei |
| collection | DOAJ |
| description | This study explores the control framework for the trajectory tracking problem concerning unmanned surface vessels (USVs) in the presence of time-varying communication delays. To address the aforementioned problem, a novel networked predictive sliding mode control architecture is proposed by integrating a discrete sliding mode control technique and predictive control scheme. By leveraging a first-order forward Euler discretization approach, a discrete-time model of USVs was initially formulated. Then, a virtual velocity controller was developed to convert the position tracking into expected velocity tracking, which was achieved by utilizing a sliding mode control. Subsequently, a networked predictive control technique was performed to compensate for the time-varying delays. Finally, theoretical analysis and extensive comparative simulation tests demonstrated that the proposed control scheme guaranteed complete compensation for time-varying delays while ensuring the stability of the closed-loop system. |
| format | Article |
| id | doaj-art-3d39e20a012d41b88f177d100103cdd4 |
| institution | Kabale University |
| issn | 2077-1312 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-3d39e20a012d41b88f177d100103cdd42025-01-24T13:36:58ZengMDPI AGJournal of Marine Science and Engineering2077-13122025-01-0113113210.3390/jmse13010132Networked Predictive Trajectory Tracking Control for Underactuated USV with Time-Varying DelaysTao Lei0Yuanqiao Wen1Yi Yu2Minglong Zhang3Xin Xiong4Kang Tian5State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaState Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaDepartment of Electrical and Electronic Engineering, The Hong Kong Polytechnic University, Hong Kong SAR 999077, ChinaState Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaState Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaState Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology, Wuhan 430063, ChinaThis study explores the control framework for the trajectory tracking problem concerning unmanned surface vessels (USVs) in the presence of time-varying communication delays. To address the aforementioned problem, a novel networked predictive sliding mode control architecture is proposed by integrating a discrete sliding mode control technique and predictive control scheme. By leveraging a first-order forward Euler discretization approach, a discrete-time model of USVs was initially formulated. Then, a virtual velocity controller was developed to convert the position tracking into expected velocity tracking, which was achieved by utilizing a sliding mode control. Subsequently, a networked predictive control technique was performed to compensate for the time-varying delays. Finally, theoretical analysis and extensive comparative simulation tests demonstrated that the proposed control scheme guaranteed complete compensation for time-varying delays while ensuring the stability of the closed-loop system.https://www.mdpi.com/2077-1312/13/1/132unmanned surface vehiclestrajectory trackingdiscrete-time sliding mode controltime-varying delaysnetworked predictive control |
| spellingShingle | Tao Lei Yuanqiao Wen Yi Yu Minglong Zhang Xin Xiong Kang Tian Networked Predictive Trajectory Tracking Control for Underactuated USV with Time-Varying Delays Journal of Marine Science and Engineering unmanned surface vehicles trajectory tracking discrete-time sliding mode control time-varying delays networked predictive control |
| title | Networked Predictive Trajectory Tracking Control for Underactuated USV with Time-Varying Delays |
| title_full | Networked Predictive Trajectory Tracking Control for Underactuated USV with Time-Varying Delays |
| title_fullStr | Networked Predictive Trajectory Tracking Control for Underactuated USV with Time-Varying Delays |
| title_full_unstemmed | Networked Predictive Trajectory Tracking Control for Underactuated USV with Time-Varying Delays |
| title_short | Networked Predictive Trajectory Tracking Control for Underactuated USV with Time-Varying Delays |
| title_sort | networked predictive trajectory tracking control for underactuated usv with time varying delays |
| topic | unmanned surface vehicles trajectory tracking discrete-time sliding mode control time-varying delays networked predictive control |
| url | https://www.mdpi.com/2077-1312/13/1/132 |
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