期刊
INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE
卷 48, 期 3, 页码 535-546出版社
TAYLOR & FRANCIS LTD
DOI: 10.1080/00207721.2016.1193255
关键词
Learning control; state constraints; marine surface vessel; barrier lyapunov function; adaptive control; neural networks
类别
资金
- National Natural Science Foundation of China [61522302]
- National Basic Research Program of China (973 Program) [2014CB744206]
- Fundamental Research Funds for the China Central Universities of USTB [FRF-TP-15-005C1]
- Engineering and Physical Sciences Research Council (EPSRC) [EP/L026856/2]
- Engineering and Physical Sciences Research Council [EP/L026856/1, EP/L026856/2] Funding Source: researchfish
- EPSRC [EP/L026856/1, EP/L026856/2] Funding Source: UKRI
In this paper, a trajectory tracking control law is proposed for a class of marine surface vessels in the presence of full-state constraints and dynamics uncertainties. A barrier Lyapunov function (BLF) based control is employed to prevent states from violating the constraints. Neural networks are used to approximate the system uncertainties in the control design, and the control law is designed by using the Moore-Penrose inverse. The proposed control is able to compensate for the effects of full-state constraints. Meanwhile, the signals in the closed-loop system are guaranteed to be semiglobally uniformly bounded, with the asymptotic tracking being achieved. Finally, the performance of the proposed control has been tested and verified by simulation studies.
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