Trajectory tracking control of unmanned surface vessels with input saturation and full-state constraints
This article investigates the trajectory tracking control problem for unmanned surface vessels with input saturation and full-state constraints. The barrier Lyapunov function is used to solve the problem of state constraints, and the adaptive method is employed to handle the unknown random disturban...
Main Authors: | Hongde Qin, Chengpeng Li, Yanchao Sun, Zhongchao Deng, Yuhan Liu |
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Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2018-10-01
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Series: | International Journal of Advanced Robotic Systems |
Online Access: | https://doi.org/10.1177/1729881418808113 |
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