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Neural Prescribed Performance Control for Uncertain Marine Surface Vessels without Accurate Initial Errors
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-01-15
Country of Publication
Egypt
No. of Pages
11
Main Subjects
Abstract EN
This paper deals with the problems concerned with the trajectory tracking control with prescribed performance for marine surface vessels without velocity measurements in uncertain dynamical environments, in the presence of parametric uncertainties, unknown disturbances, and unknown dead-zone.
First, only the ship position and heading measurements are available and a high-gain observer is used to estimate the unmeasurable velocities.
Second, by utilizing the prescribed performance control, the prescribed tracking control performance can be ensured, while the requirement for the initial error is removed via the preprocessing.
At last, based on neural network approximation in combination with backstepping and Lyapunov synthesis, a robust adaptive neural control scheme is developed to handle the uncertainties and input dead-zone characteristics.
Under the designed adaptive controller for marine surface vessels, all the signals in the closed-loop system are semiglobally uniformly ultimately bounded (SGUUB), and the prescribed transient and steady tracking control performance is guaranteed.
Simulation studies are performed to demonstrate the effectiveness of the proposed method.
American Psychological Association (APA)
Si, Wenjie& Dong, Xunde. 2017. Neural Prescribed Performance Control for Uncertain Marine Surface Vessels without Accurate Initial Errors. Mathematical Problems in Engineering،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1189885
Modern Language Association (MLA)
Si, Wenjie& Dong, Xunde. Neural Prescribed Performance Control for Uncertain Marine Surface Vessels without Accurate Initial Errors. Mathematical Problems in Engineering No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1189885
American Medical Association (AMA)
Si, Wenjie& Dong, Xunde. Neural Prescribed Performance Control for Uncertain Marine Surface Vessels without Accurate Initial Errors. Mathematical Problems in Engineering. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1189885
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1189885