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

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 ra...

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Veröffentlicht in:International journal of advanced robotic systems Jg. 16; H. 5
Hauptverfasser: Wan, Lei, Zeng, Jiangfeng, Li, Yueming, Qin, Hongde, Zhang, Lei, Wang, Jian
Format: Journal Article
Sprache:Englisch
Veröffentlicht: London, England SAGE Publications 01.09.2019
Sage Publications Ltd
SAGE Publishing
Schlagworte:
Adaptive control
Approximation
Computer simulation
Control stability
Disturbance observers
Feedback control
Hyperbolic functions
Mathematical analysis
Neural networks
Nonlinearity
Radial basis function
Saturation
Stability analysis
Trajectory planning
Transient performance
Unmanned vehicles
Vessels
dynamic surface control
adaptive control
Unmanned surface vessels
path following
input saturation
ISSN:1729-8806, 1729-8814
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Zusammenfassung: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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ISSN:1729-8806
1729-8814
DOI:10.1177/1729881419878071