Trajectory tracking control for underactuated surface vessels using neural network

【作者】 刘杨； 郭晨；

【Author】 LIU Yang GUO Chen (1.School of Electronic and Information Engineering,Dalian Jiaotong University,Dalian 116028,China; 2.College of Information Science and Technology,Dalian Maritime University,Dalian 116026,China)

【机构】 School of Electronic and Information Engineering,Dalian Jiaotong University； College of Information Science and Technology,Dalian Maritime University；

【摘要】 <正>Aiming at the trajectory tracking control of underactuated vessels with parameters uncertain and external disturbance problems,a stable adaptive neural network control method is proposed.Based on the diffeomorphism transformation,the new tracking variables are given.First,the kinematics controller is designed to track the new variables and the velocity command is proposed.Second,the dynamics controller using neural network method is designed to make the real velocity of the underactuated surface vessel reach the desired velocity command.All the parameters’ update laws are selected in terms of Lyapunov functions, which guarantee the closed-loop systems to be uniformly ultimately bounded(UUB).Finally,a numerical simulation illustrates the effectiveness of the proposed control method.更多还原

【Abstract】 Aiming at the trajectory tracking control of underactuated vessels with parameters uncertain and external disturbance problems,a stable adaptive neural network control method is proposed.Based on the diffeomorphism transformation,the new tracking variables are given.First,the kinematics controller is designed to track the new variables and the velocity command is proposed.Second,the dynamics controller using neural network method is designed to make the real velocity of the underactuated surface vessel reach the desired velocity command.All the parameters’ update laws are selected in terms of Lyapunov functions, which guarantee the closed-loop systems to be uniformly ultimately bounded(UUB).Finally,a numerical simulation illustrates the effectiveness of the proposed control method.更多还原