Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances
Abstract
:1. Introduction
2. Problem Formulation and Preliminaries
2.1. Problem Formulation
2.2. Neural Network Minimum Parameter Learning Method
3. Trajectory Tracking Control Design
3.1. Surge Control Law
3.2. Yaw Rate Controller
4. Stability Analysis
5. Numerical Simulations
5.1. Tracking a Straight Line
5.2. Tracking a Circle
6. Conclusions
Acknowledgments
Author Contributions
Conflicts of Interest
Abbreviations
USV | unmanned surface vehicle |
DSC | dynamic surface control |
RBF | radial basis function |
ASV | autonomous surface vehicle |
DOF | degree of freedom |
UUB | uniformly ultimately bounded |
BP | back propagation |
SMC | sliding mode control |
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Mu, D.; Wang, G.; Fan, Y.; Qiu, B.; Sun, X. Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances. Appl. Sci. 2018, 8, 547. https://doi.org/10.3390/app8040547
Mu D, Wang G, Fan Y, Qiu B, Sun X. Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances. Applied Sciences. 2018; 8(4):547. https://doi.org/10.3390/app8040547
Chicago/Turabian StyleMu, Dongdong, Guofeng Wang, Yunsheng Fan, Bingbing Qiu, and Xiaojie Sun. 2018. "Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances" Applied Sciences 8, no. 4: 547. https://doi.org/10.3390/app8040547