Modified Line-of-Sight Guidance Law With Adaptive Neural Network Control of Underactuated Marine Vehicles With State and Input Constraints

This article presents a modified line-of-sight (LOS) guidance law and an adaptive neural network (NN) controller for underactuated marine vehicles in the presence of uncertainties and constraints. Unlike conventional LOS guidance, the proposed guidance law counteracts the drift caused by external di...

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Published in:	IEEE transactions on control systems technology Vol. 28; no. 5; pp. 1902 - 1914
Main Authors:	Rout, Raja, Cui, Rongxin, Han, Zhengqing
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.09.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptation models Adaptive control Adaptive systems Artificial neural networks Autonomous surface vehicle (ASV) autonomous underwater vehicle (AUV) Computer simulation Control stability Control systems design Controllers Disturbances Dynamic stability Feedback control Guidance (motion) guidance algorithm Liapunov functions Line of sight line of sight (LOS) Marine vehicles Navigation Network control neural network (NN) Neural networks Stability analysis Uncertainty Vehicle dynamics Vehicles waypoint tracking
ISSN:	1063-6536, 1558-0865
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Abstract	This article presents a modified line-of-sight (LOS) guidance law and an adaptive neural network (NN) controller for underactuated marine vehicles in the presence of uncertainties and constraints. Unlike conventional LOS guidance, the proposed guidance law counteracts the drift caused by external disturbances to maintain zero cross-track error. Furthermore, an adaptive NN controller is designed using the barrier Lyapunov function (BLF) to deal with the system constraints and disturbances affecting unknown vehicle dynamics. The stability analysis of the adaptive controller guarantees the uniform ultimate boundedness of the closed-loop system. The proposed control strategy is verified in the simulation and experimental environment in the presence of external disturbances. Both simulation and experimental results confirm that the proposed modified LOS guidance law and adaptive NN controller guarantees asymptotic convergence to the desired path and maintains zero cross-track error despite environmental disturbances.
AbstractList	This article presents a modified line-of-sight (LOS) guidance law and an adaptive neural network (NN) controller for underactuated marine vehicles in the presence of uncertainties and constraints. Unlike conventional LOS guidance, the proposed guidance law counteracts the drift caused by external disturbances to maintain zero cross-track error. Furthermore, an adaptive NN controller is designed using the barrier Lyapunov function (BLF) to deal with the system constraints and disturbances affecting unknown vehicle dynamics. The stability analysis of the adaptive controller guarantees the uniform ultimate boundedness of the closed-loop system. The proposed control strategy is verified in the simulation and experimental environment in the presence of external disturbances. Both simulation and experimental results confirm that the proposed modified LOS guidance law and adaptive NN controller guarantees asymptotic convergence to the desired path and maintains zero cross-track error despite environmental disturbances.
Author	Han, Zhengqing Rout, Raja Cui, Rongxin
Author_xml	– sequence: 1 givenname: Raja orcidid: 0000-0001-7468-3017 surname: Rout fullname: Rout, Raja email: raja.rout86@gmail.com organization: School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China – sequence: 2 givenname: Rongxin orcidid: 0000-0002-8006-3620 surname: Cui fullname: Cui, Rongxin email: r.cui@nwpu.edu.cn organization: School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China – sequence: 3 givenname: Zhengqing surname: Han fullname: Han, Zhengqing email: hanzq@mail.nwpu.edu.cn organization: School of Marine Science and Technology, Northwestern Polytechnical University, Xi'an, China
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SubjectTerms	Adaptation models Adaptive control Adaptive systems Artificial neural networks Autonomous surface vehicle (ASV) autonomous underwater vehicle (AUV) Computer simulation Control stability Control systems design Controllers Disturbances Dynamic stability Feedback control Guidance (motion) guidance algorithm Liapunov functions Line of sight line of sight (LOS) Marine vehicles Navigation Network control neural network (NN) Neural networks Stability analysis Uncertainty Vehicle dynamics Vehicles waypoint tracking
Title	Modified Line-of-Sight Guidance Law With Adaptive Neural Network Control of Underactuated Marine Vehicles With State and Input Constraints
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