Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances

This study describes a circular curve path-following controller for an underactuated unmanned surface vessel (USV) experiencing unmodeled dynamics and external disturbances. Initially, a three degrees of freedom kinematic model of the USV is proposed for marine environmental disturbances and interna...

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Vydáno v:	Journal of marine science and engineering Ročník 11; číslo 11; s. 2160
Hlavní autoři:	Ren, Yi, Zhang, Lei, Huang, Wenbin, Chen, Xi
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	Basel MDPI AG 01.11.2023
Témata:	Adaptability Adaptive control Analysis Closed loops Coefficients Control algorithms Control equipment Control systems design Controllers Coordinate transformations Design Disturbances Ecosystem disturbance Feedback control Fluid mechanics Guidance (motion) Hydrodynamic coefficients Kinematics Laws, regulations and rules line of sight Marine environment Methods Neural networks path following Proportional derivative Radial basis function robust control Sea vessels sliding mode Surface craft System dynamics Theoretical analysis Tracking control Tracking errors underactuated unmanned surface vehicle Velocity Yaw Yawing
ISSN:	2077-1312, 2077-1312
On-line přístup:	Získat plný text
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