Robust Adaptive Path Following Control of an Unmanned Surface Vessel Subject to Input Saturation and Uncertainties

Robust Adaptive Path Following Control of an Unmanned Surface Vessel Subject to Input Saturation and Uncertainties

This paper investigates the path following control problem of an unmanned surface vessel (USV) subject to input saturation and uncertainties including model parameters uncertainties and unknown time-varying external disturbances. A nonlinear robust adaptive control scheme is proposed to address the...

Full description

Bibliographic Details
Main Authors: Yunsheng Fan, Hongyun Huang, Yuanyuan Tan
Format: Article
Language:English
Published: MDPI AG 2019-05-01
Series:Applied Sciences
Subjects:
unmanned surface vessel
path following
integral line-of-sight
finite-time currents observer
radial basis function neural networks
input saturation
Online Access:https://www.mdpi.com/2076-3417/9/9/1815

Internet

https://www.mdpi.com/2076-3417/9/9/1815

Similar Items