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Adaptive NN-DSC control design for path following of underactuated surface vessels with input saturation
Liu, Cheng; Chen, C. L. Philip; Zou, Zaojian; Li, Tieshan
2017-12-06
Source PublicationNEUROCOMPUTING
ISSN0925-2312
Volume267Pages:466-474
AbstractIn this paper, a robust control design using the neural network (NN) and dynamic surface control (DSC) method is proposed for path following of underactuated surface vessels with input saturation. First, the Serret-Frenet (SF) frame and the line of sight (LOS) method are used to transform the kinematics of ship motion into "lower-triangle" form; then the backstepping method can be applied directly. Second, the problem of complexity explosion inherent with traditional backstepping is avoided by employing DSC technique, and the computational burden is reduced. Third, the NN is included to cope with the uncertainties of the model. Fourth, an auxiliary design system is used to deal with input saturation of rudder, which can help reduce the abrasion of the rudder machine. The uniform boundedness of all the closed loop signals is guaranteed via Lyapunov analysis. The simulation results with comparisons are presented to verify and illustrate the effectiveness of the proposed controller. (C) 2017 Elsevier B.V. All rights reserved.
KeywordSurface vessels Path following NN Serret-Frenet LOS DSC
DOI10.1016/j.neucom.2017.06.042
URLView the original
Indexed BySCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence
WOS IDWOS:000409285400042
PublisherELSEVIER SCIENCE BV
The Source to ArticleWOS
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Citation statistics
Cited Times [WOS]:17   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Liu, Cheng,Chen, C. L. Philip,Zou, Zaojian,et al. Adaptive NN-DSC control design for path following of underactuated surface vessels with input saturation[J]. NEUROCOMPUTING,2017,267:466-474.
APA Liu, Cheng,Chen, C. L. Philip,Zou, Zaojian,&Li, Tieshan.(2017).Adaptive NN-DSC control design for path following of underactuated surface vessels with input saturation.NEUROCOMPUTING,267,466-474.
MLA Liu, Cheng,et al."Adaptive NN-DSC control design for path following of underactuated surface vessels with input saturation".NEUROCOMPUTING 267(2017):466-474.
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