Stabilization, Tracking and Formation Control of Autonomous Marine Vessels/Системы стабилизации, отслеживания и контроля автономных морских судов

Книга на английском языке.
This book focuses on autonomous marine vessel systems and control approaches. In particular, it mainly contains modeling, analysis and control design methodologies for covert stabilization control, trajectory tracking control, and cooperative formation control of AMVs. The comprehensive and systematic treatment of practical issues in autonomous marine vessel systems is one of the book’s significant features, particularly suited for readers interested in learning control problems in AMV and other related topic areas like mobile robots and vehicles. The book can benefit researchers, engineers, and graduate students in mathematical skills, methodologies, and algorithms needed in the analysis and control design for tracking and stabilization, cooperative control of surface vessels and underwater vehicles. Through the book, readers can have a deeper understanding of such fields.

Contents
Part I Stabilization Control
1 Fixed-Time Stabilization Control of AMVs with Actuator Dead-Zones
1.1 Introduction
1.2 SystemModeling and Preliminaries
1.3 Model Transformation
1.4 Fixed-Time Controller Design
1.5 Numerical Simulations
1.6 Conclusion and Future Work
Appendix: Proof of Lemma 1.3
References
2 Stabilization Control of AMVs Under Mismatched Disturbance
2.1 Introduction
2.2 Problem Statements and Preliminaries
2.3 Fixed-Time Disturbance Observers
2.4 Stabilization of AMVs
2.5 Numerical Simulations
2.6 Conclusion and Future Work
References
3 Asymptotic Stabilization of AMVs with Actuator Dead-Zones and Yaw Constraints
3.1 Introduction
3.2 SystemModeling and Objective
3.3 Model Transformations
3.4 Stabilization of AMVs with Yaw Constraints
3.5 Stabilization of AMVs with Disturbances
3.6 Further Discussions
3.7 Numerical Simulations
3.8 Conclusion and Future Work
Appendix: Proof of Lemma 3.4
References
Part II Tracking Control
4 Command Filtered Tracking Control of AMVs
4.1 Introduction
4.2 Problem Formulation and Preliminaries
4.3 Main Result
4.4 Numerical Simulations
4.5 Conclusion and Future Work
References
5 Command-Filtered Fixed-Time Tracking Control of AMVs
5.1 Introduction
5.2 Problem Formulation and Preliminaries
5.3 Main Results
5.3.1 A Fixed-Time Disturbance Observer
5.3.2 Trajectory Tracking Control Design
5.4 Numerical Simulations
5.5 Conclusion and Future Work
References
Part III Formation Control
6 Command Filtered Finite-Time Formation Control of AMVs with Unknown Control Directions
6.1 Introduction
6.2 Preliminaries and Problem Formulation
6.3 Controller Design and Stability Analysis
6.4 Numerical Simulations
6.5 Conclusion and Future Work
References
7 Velocity Free Formation Control for AMVs with LOS Range and Angle Constraints
7.1 Introduction
7.2 Preliminaries and Problem Formulation
7.3 Main Results
7.4 Numerical Simulations
7.5 Conclusion and Future Work
References
8 Prescribed-Time Formation Control of AMVs with LOS Range and Angles Constraints
8.1 Introduction
8.2 Problem Formulation and Preliminaries
8.3 Main Results
8.4 Numerical Simulations
8.5 Conclusion and Future Work
References
9 Velocity Free Adaptive Fixed-Time Formation Control of AMVs
9.1 Introduction
9.2 Preliminaries and Problem Formulation
9.3 Formation Control with Velocity Measurement
9.4 Formation Controller Without Velocity Measurement
9.5 Numerical Simulations
9.6 Conclusion and Future Work
Appendix
References