Nonlinear steering control law under input magnitude and rate constraints with exponential convergence

Suyama, Rin; Satoh, Satoshi; Maki, Atsuo

Journal of Marine Science and Technology, 2024, 29(4), 812-825

アクセス数:294件（2025-07-12 00:19 集計）

固定URL: https://hdl.handle.net/11094/98271

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論文情報

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タイトル
Nonlinear steering control law under input magnitude and rate constraints with exponential convergence
著者
著者名
Suyama, Rin
NRID
1000060533643 1000060533643
researchmap permalink
satoshisatoh satoshisatoh
Scopus Author ID
16550802700 16550802700
著者名
Satoh, Satoshi
NRID
1000050556496 1000050556496
ORCID
0000-0002-2819-1297 0000-0002-2819-1297
researchmap permalink
atsuo_maki atsuo_maki
Scopus Author ID
24503751100 24503751100
著者名
Maki, Atsuo
キーワード等
Backstepping
Exponential stability
Input magnitude constraint
Input rate constraint
Ship steering control
内容
The version of record of this article, first published in Journal of Marine Science and Technology (Japan), is available online at Publisher’s website: https://doi.org/10.1007/s00773-024-01020-4.
抄録
A ship steering control law is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted into the tracking problem for a strict-feedback system without any input constraints. To derive this system, hyperbolic tangent (tanh) function and auxiliary variables are introduced to deal with the input constraints. Furthermore, using the feature of the derivative of tanh function, auxiliary systems are successfully derived in the strict-feedback form. The backstepping method is utilized to construct the control input for the resulting cascade system. The proposed steering control law is verified in numerical experiments, and the result shows that the tracking of the target heading angle is successful using the proposed control law.
出版者
Springer
収録物名
Journal of Marine Science and Technology
巻(号)
29(4)
ページ
812-825
刊行年月
2024-08-28
言語
英語
ハンドルURL
https://hdl.handle.net/11094/98271
PISSN
09484280
関連情報 (isIdenticalTo)
DOI (出版社版)
https://doi.org/10.1007/s00773-024-01020-4
アクセス権
open access
権利情報
This article is licensed under a Creative Commons Attribution 4.0 International License.
出版タイプ
Version of Record
カテゴリ
学術雑誌論文 Journal Article