Journal
IEEE TRANSACTIONS ON CYBERNETICS
Volume 47, Issue 7, Pages 1641-1651Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TCYB.2016.2554621
Keywords
Adaptive control; barrier Lyapunov function; constraints; marine vessel; neural networks (NNs); trajectory tracking
Categories
Funding
- National Natural Science Foundation of China [61522302, 61520106009, 61533008]
- National Basic Research Program of China (973 Program) [2014CB744206]
- Fundamental Research Funds for the China Central Universities of USTB [FRF-TP- 15-005C1]
Ask authors/readers for more resources
In this paper, we consider the trajectory tracking of a marine surface vessel in the presence of output constraints and uncertainties. An asymmetric barrier Lyapunov function is employed to cope with the output constraints. To handle the system uncertainties, we apply adaptive neural networks to approximate the unknown model parameters of a vessel. Both full state feedback control and output feedback control are proposed in this paper. The state feedback control law is designed by using the Moore-Penrose pseudoinverse in case that all states are known, and the output feedback control is designed using a high-gain observer. Under the proposed method the controller is able to achieve the constrained output. Meanwhile, the signals of the closed loop system are semiglobally uniformly bounded. Finally, numerical simulations are carried out to verify the feasibility of the proposed controller.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available