Xiuping Yu
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Xiuping Yu has a total of 4 co-authors. Here are the top co-authors by number of shared publications:
- Tao Liu
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
1 shared publication - Xianfeng Wang
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
1 shared publication - Yuan Feng
College of Intelligent Systems Science and Engineering, Harbin Engineering University, Harbin 150001, China
1 shared publication - Yunfei Xiao
NORINCO Group Air Ammunition Research Institute Company Ltd., Harbin, China
1 shared publication
Latest Publications
- Open Access
- 1 November 2021
- Published by MDPI AG in Journal of Marine Science and Engineering
- Vol. 9 (11) , 1204
Integral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances
This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.
- 1 November 2021
- Published by MDPI AG in Journal of Marine Science and Engineering
- Vol. 9 (11) , 1204
Open AccessIntegral Sliding Mode Based Finite-Time Tracking Control for Underactuated Surface Vessels with External Disturbances
This study focuses on the problem of finite-time tracking control for underactuated surface vessels (USVs) through sliding-mode control algorithms with external disturbances. Considering the nonexistence of relative degree caused by the underactuated property, the initial tracking error system is firstly transformed to a high order system for the possibility of applying a sliding-mode control algorithm. Subsequently, a finite-time controller based on an integral sliding surface (ISMS) is designed to achieve trajectory tracking. With the aid of this controller, the tracking errors converge to a steady state in a finite time. In contrast to the backstepping-based approach, the proposed method makes it possible to integrate controller design of position tracking and attitude tracking in one step, thus ensuring simplicity for implementation. Finally, theoretical analysis and numerical simulations are conducted to confirm the effectiveness of the proposed method.