Journal
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS
Volume 357, Issue 16, Pages 11472-11495Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.jfranklin.2019.07.019
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Funding
- National Natural Science Foundation of China [U1713205, 61803119, 51879062]
- Research Fund from Science and Technology on Underwater Vehicle Technology [6142215180208]
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In this paper, a finite-time trajectory tracking control for unmanned surface vessel with error constraints and input saturations is proposed. We take the limited actuator capability into account and employ the hyperbolic tangent function to address the saturation problem, which is converted into the unknown input gains. A tan-type barrier Lyapunov function tackles the error constraints, where error variables remain within the predefined bounds. In addition, the neural networks are utilized for model uncertainties and external disturbances. We present a semi-globally uniformly bounded control method, and develop a finite-time control approach subsequently. Finally, the effectiveness of the proposed strategies is verified by the simulation studies. (C) 2019 The Franklin Institute. Published by Elsevier Ltd. All rights reserved.
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