Adaptive Neural-Based Finite-Time Trajectory Tracking Control for Underactuated Marine Surface Vessels With Position Error Constraint

Adaptive Neural-Based Finite-Time Trajectory Tracking Control for Underactuated Marine Surface Vessels With Position Error Constraint

This paper addresses the trajectory tracking control problem of an underactuated marine surface vessel with position error constraint, finite-time convergence requirement, model uncertainties, and external disturbances. A barrier Lyapunov function is incorporated with the backstepping control scheme...

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Bibliographic Details
Main Authors: Mingyu Fu, Taiqi Wang, Chenglong Wang
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Marine surface vessel
finite-time control
trajectory tracking
barrier Lyapunov function
Online Access:https://ieeexplore.ieee.org/document/8626181/

Internet

https://ieeexplore.ieee.org/document/8626181/

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