scholarly journals Adaptive Neural Path Following Control of Underactuated Surface Vessels With Input Saturation

IEEE Access ◽  
2020 ◽  
pp. 1-1
Author(s):  
Guoqing Xia ◽  
Xinwei Wang ◽  
Bo Zhao ◽  
Zhiwei Han ◽  
Linhe Zheng
Keyword(s):  
Input Saturation ◽  
Path Following ◽  
Surface Vessels ◽  
Path Following Control ◽  
Underactuated Surface Vessels

Robust Composite Nonlinear Feedback Control for Path Following of Underactuated Surface Vessels With Desired-Heading Amendment

2016 ◽  
Author(s):  
Chuan Hu ◽  
Rongrong Wang ◽  
Fengjun Yan
Keyword(s):  
Input Saturation ◽  
Path Following ◽  
Transient Performance ◽  
Nonlinear Feedback ◽  
Sideslip Angle ◽  
Traditional Practice ◽  
Composite Nonlinear Feedback ◽  
Surface Vessels ◽  
Path Following Control ◽  
Underactuated Surface Vessels

This paper studies the transient performance improvement problem for path following control of underactuated surface vessels (USVs) in the presence of oceanic disturbances. The traditional practice that chooses the tangent direction of the desired path as the desired heading may deteriorate the tracking performance in the curve-path following. That is because the sideslip angle is not zero in turnings, which unavoidably makes the lateral offset hard to converge to zero. Also, the disturbances in wave filed greatly affect the transient control of the path following errors. To this end, this paper makes two contributions: 1) An amendment on the choice of the desired heading is presented to consider the sideslip angle in turnings and then achieve a more accurate path-following maneuver; 2) A novel robust composite nonlinear feedback (CNF) technique is proposed based on a multiple-disturbances observer to improve the transient performance for path following control in seaway environment considering the input saturation. Comparative simulations verify the reasonability of the amendment on the desired heading direction and the effectiveness of the CNF approach in improving the transient performance for the path following control of USVs.

scholarly journals Neural observer-based path following control for underactuated unmanned surface vessels with input saturation and time-varying disturbance

2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987807
Author(s):  
Lei Wan ◽  
Jiangfeng Zeng ◽  
Yueming Li ◽  
Hongde Qin ◽  
Lei Zhang ◽  
...  
Keyword(s):  
Disturbance Observer ◽  
External Disturbance ◽  
Input Saturation ◽  
Path Following ◽  
Dynamic Surface Control ◽  
Dynamic Surface ◽  
Surface Control ◽  
Surface Vessels ◽  
Path Following Control ◽  
Control Scheme

In this study, a new neural observer-based dynamic surface control scheme is proposed for the path following of underactuated unmanned surface vessels in the presence of input saturation and time-varying external disturbance. The dynamic surface control technique is augmented by a robust adaptive radial basis function neural network and a nonlinear neural disturbance observer. Radial basis function neural network is employed to deal with system uncertainties, and the nonlinear neural disturbance observer is developed to compensate for the unknown compound disturbance that contains the input saturation approximation error and the external disturbance. Moreover, the stringent known boundary requirement of the unknown disturbance constraint is eliminated with the proposed nonlinear neural disturbance observer. Meanwhile, to deal with the non-smooth saturation nonlinearity, a new parametric hyperbolic tangent function approximation model with arbitrary prescribed precision is constructed, which results in the transient performance improvement for the path following control system. Stability analysis shows that all the signals in the closed-loop system are guaranteed to be ultimately bounded. Comparative simulation results further demonstrate the effectiveness of the proposed control scheme.

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