Journal
APPLIED OCEAN RESEARCH
Volume 53, Issue -, Pages 267-278Publisher
ELSEVIER SCI LTD
DOI: 10.1016/j.apor.2015.09.010
Keywords
Actuator saturation; Adaptive robust control; Generalized saturation function; Hovercraft vehicle; Neural network; Underactuated surface vehicle
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Funding
- research and technology program - Najafabad branch, Islamic Azad University under the research project Designing tracking controllers for the navigation of autonomous ocean vessels with limited information [51504920613004]
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This paper proposes a saturated tracking controller for underactuated autonomous marine surface vehicles with limited torque. First, a second-order open-loop error dynamic model is developed in the actuated degrees of freedom to simplify the design procedure. Then, a saturated tracking controller is designed by utilizing generalized saturation functions to reduce the risk of actuator saturation. This, in turn, improves the transient performance of the control system. A multi-layer neural network and adaptive robust control techniques are also employed to preserve the controller robustness against unmodeled dynamics and environmental disturbances induced by waves and ocean currents. A Lyapunov stability analysis shows that all signals of the closed-loop system are bounded and tracking errors are semi-globally uniformly ultimately bounded. Finally, simulation results are provided for a hovercraft vehicle to illustrate the effectiveness of the proposed controller as a qualified candidate for real implementations in offshore applications. (C) 2015 Elsevier Ltd. All rights reserved.
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