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- Title
Improved Integral LOS Guidance and Path-Following Control for an Unmanned Robot Sailboat via the Robust Neural Damping Technique.
- Authors
Zhang, Guoqing; Li, Jiqiang; Li, Bo; Zhang, Xianku
- Abstract
This paper introduces a scheme for waypoint-based path-following control for an Unmanned Robot Sailboat (URS) in the presence of actuator gain uncertainty and unknown environment disturbances. The proposed scheme has two components: intelligent guidance and an adaptive neural controller. Considering upwind and downwind navigation, an improved version of the integral Line-Of-Sight (LOS) guidance principle is developed to generate the appropriate heading reference for a URS. Associated with the integral LOS guidance law, a robust adaptive algorithm is proposed for a URS using Radial Basic Function Neural Networks (RBF-NNs) and a robust neural damping technique. In order to achieve a robust neural damping technique, one single adaptive parameter must be updated online to stabilise the effect of the gain uncertainty and the external disturbance. To ensure Semi-Global Uniform Ultimate Bounded (SGUUB) stability, the Lyapunov theory has been employed. Two simulated experiments have been conducted to illustrate that the control effects can achieve a satisfactory performance.
- Subjects
ROBOT control systems; ROBUST control; SAILBOATS
- Publication
Journal of Navigation, 2019, Vol 72, Issue 6, p1378
- ISSN
0373-4633
- Publication type
Article
- DOI
10.1017/S0373463319000353