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

Number of Access:327（2025-08-14 03:30 Counts）

Identifier to cite or link to this item: https://hdl.handle.net/11094/98271

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Title
Nonlinear steering control law under input magnitude and rate constraints with exponential convergence
Creator
CreatorName
Suyama, Rin
NRID
1000060533643 1000060533643
researchmap permalink
satoshisatoh satoshisatoh
Scopus Author ID
16550802700 16550802700
CreatorName
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
CreatorName
Maki, Atsuo
Subject
Backstepping
Exponential stability
Input magnitude constraint
Input rate constraint
Ship steering control
Description
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.
Abstract
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.
Publisher
Springer
Source Title
Journal of Marine Science and Technology
Volume (Issue)
29(4)
Page
812-825
Date of Issued
2024-08-28
Language
English
Handle URL
https://hdl.handle.net/11094/98271
PISSN
09484280
Relation.isIdenticalTo
DOI (Publisher Version)
https://doi.org/10.1007/s00773-024-01020-4
Access Rights
open access
CopyRight
This article is licensed under a Creative Commons Attribution 4.0 International License.
oaire:version
Version of Record
Category
学術雑誌論文 Journal Article