Tracking Control With Input Saturation and Full-State Constraints for Surface Vessels
To solve the problems of full-state constraints in trajectory tracking of surface vessels, a backstepping technique combining a novel integral barrier Lyapunov function (iBLF) with neural network and sliding mode is proposed. Moreover, the control law is extended to the control problem with input sa...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2019-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/8863903/ |