期刊
NEUROCOMPUTING
卷 267, 期 -, 页码 466-474出版社
ELSEVIER SCIENCE BV
DOI: 10.1016/j.neucom.2017.06.042
关键词
Surface vessels; Path following; NN; Serret-Frenet; LOS; DSC
资金
- National Natural Science Foundation of China [61572540, 61374114]
- Macau Science and Technology Development [008/2010/A1]
- UM Multiyear Research Grants
- Fundamental Research Program for Key Laboratory of the Educational Department of Liaoning Province [LZ2015006]
- Natural Science Foundation of Liaoning Province [20170540081]
- Fundamental Research Funds for the Central Universities [3132016313, 3132017114, 3132016311]
In this paper, a robust control design using the neural network (NN) and dynamic surface control (DSC) method is proposed for path following of underactuated surface vessels with input saturation. First, the Serret-Frenet (SF) frame and the line of sight (LOS) method are used to transform the kinematics of ship motion into lower-triangle form; then the backstepping method can be applied directly. Second, the problem of complexity explosion inherent with traditional backstepping is avoided by employing DSC technique, and the computational burden is reduced. Third, the NN is included to cope with the uncertainties of the model. Fourth, an auxiliary design system is used to deal with input saturation of rudder, which can help reduce the abrasion of the rudder machine. The uniform boundedness of all the closed loop signals is guaranteed via Lyapunov analysis. The simulation results with comparisons are presented to verify and illustrate the effectiveness of the proposed controller. (C) 2017 Elsevier B.V. All rights reserved.
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