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
Online-Zugang:	Volltext
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