Robust fault–tolerant tracking with predefined performance for underactuated surface vessels

2016 ◽  
Vol 115 ◽  
pp. 159-167 ◽  
Author(s):  
Bong Seok Park ◽  
Sung Jin Yoo
Keyword(s):  
Fault Tolerant ◽  
Surface Vessels ◽  
Underactuated Surface Vessels

scholarly journals Neural Network-Based Fault-Tolerant Control of Underactuated Surface Vessels

2015 ◽  
Vol 2015 ◽  
pp. 1-9 ◽  
Author(s):  
Bong Seok Park
Keyword(s):  
Degrees Of Freedom ◽  
Fault Tolerant ◽  
Model Parameters ◽  
External Disturbances ◽  
Detection Scheme ◽  
Surface Vessels ◽  
Additional Control ◽  
Underactuated Surface Vessels ◽  
Path Stability ◽  
Multilayer Neural Networks

This paper addresses the problem of trajectory tracking of underactuated surface vessels (USVs) in the presence of thruster failure. Multilayer neural networks (MNNs) are employed to estimate the unknown model parameters and external disturbances. To design a fault-tolerant controller without a fault detection scheme, we use the Nussbaum gain technique. We introduce an additional control to resolve the difficulty arising from having fewer inputs than degrees-of-freedom. Further, an approach angle is proposed to track both a straight and curved path. Stability analysis and simulations are performed to demonstrate the effectiveness of the proposed scheme.

Deep reinforcement learning-based path planning of underactuated surface vessels

2018 ◽  
Vol 5 (1) ◽  
pp. 1-17 ◽  
Author(s):  
Hongwei Xu ◽  
Ning Wang ◽  
Hong Zhao ◽  
Zhongjiu Zheng
Keyword(s):  
Reinforcement Learning ◽  
Path Planning ◽  
Surface Vessels ◽  
Underactuated Surface Vessels
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