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- Title
Robust adaptive maneuvering control for an unmanned surface vessel with uncertainties.
- Authors
Huang, Hongyun; Fan, Yunsheng
- Abstract
This article investigates the path‐following control problem of an unmanned surface vessel in the presence of uncertainties with only two inputs available (surge force and yaw moment). The problem consists of steering a vessel to follow a scheduled path with the desired velocity assignment. The backstepping technique and Lyapunov's direct method are employed as the main framework to design a controller. To ensure the design requirements, an improved integral line‐of‐sight guidance law is utilized first to calculate the desired yaw angle and to make compensation for the ocean currents based on the reduced‐order linear extended state observer. Then, a controller based on the radial basis function neural network is used to accomplish the yaw angle and velocity tracking, which alleviates the effects of model uncertainties and external disturbances. All the tracking error signals of the closed‐loop system are proved to be uniformly ultimately bounded. It demonstrates that the proposed path‐following control approach can deal well with time‐varying ocean currents, model uncertainties, and time‐varying disturbances. Results of the simulations validate the effectiveness and robustness of the proposed approach. © 2019 Institute of Electrical Engineers of Japan. Published by John Wiley & Sons, Inc.
- Subjects
JAPAN; TRACKING control systems; ADAPTIVE control systems; RADIAL basis functions; ROBUST control; OCEAN currents; CLOSED loop systems; TORQUE
- Publication
IEEJ Transactions on Electrical & Electronic Engineering, 2019, Vol 14, Issue 8, p1226
- ISSN
1931-4973
- Publication type
Article
- DOI
10.1002/tee.22922