Neural Network-Based Fault-Tolerant Control of Underactuated Surface Vessels
Author
Source
Mathematical Problems in Engineering
Issue
Vol. 2015, Issue 2015 (31 Dec. 2015), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2015-10-04
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
This paper addresses the problem of trajectory tracking of underactuated surface vessels (USVs) in the presence of thruster failure.
Multilayer neural networks (MNNs) are employed to estimate the unknown model parameters and external disturbances.
To design a fault-tolerant controller without a fault detection scheme, we use the Nussbaum gain technique.
We introduce an additional control to resolve the difficulty arising from having fewer inputs than degrees-of-freedom.
Further, an approach angle is proposed to track both a straight and curved path.
Stability analysis and simulations are performed to demonstrate the effectiveness of the proposed scheme.
American Psychological Association (APA)
Park, Bong Seok. 2015. Neural Network-Based Fault-Tolerant Control of Underactuated Surface Vessels. Mathematical Problems in Engineering،Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1075011
Modern Language Association (MLA)
Park, Bong Seok. Neural Network-Based Fault-Tolerant Control of Underactuated Surface Vessels. Mathematical Problems in Engineering No. 2015 (2015), pp.1-9.
https://search.emarefa.net/detail/BIM-1075011
American Medical Association (AMA)
Park, Bong Seok. Neural Network-Based Fault-Tolerant Control of Underactuated Surface Vessels. Mathematical Problems in Engineering. 2015. Vol. 2015, no. 2015, pp.1-9.
https://search.emarefa.net/detail/BIM-1075011
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1075011