Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances
This article presents a robust composite neural-based dynamic surface control design for the path following of unmanned marine surface vessels in the presence of nonlinearly parameterized uncertainties and unknown time-varying disturbances. Compared with the existing neural network-based dynamic sur...
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doaj-e3e0581098ab41d19b1ac232a09eeb722020-11-25T03:34:12ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142018-07-011510.1177/1729881418786646Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbancesJiangfeng Zeng0Lei Wan1Yueming Li2Ziyang Zhang3Yufei Xu4Gongrong Li5 Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, China Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, China Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, China Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, China Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, China China Ship Development and Design Center, Wuhan, Hubei, ChinaThis article presents a robust composite neural-based dynamic surface control design for the path following of unmanned marine surface vessels in the presence of nonlinearly parameterized uncertainties and unknown time-varying disturbances. Compared with the existing neural network-based dynamic surface control methods where only the tracking errors are commonly used for the neural network weight updating, the proposed scheme employs both the tracking errors and the prediction errors to construct the adaption law. Therefore, faster identification of the system dynamics and improved tracking accuracy are achieved. In particular, an outstanding advantage of the proposed neural network structure is simplicity. No matter how many neural network nodes are utilized, only one adaptive parameter that needs to be tuned online, which effectively reduces the computational burden and facilitates to implement the proposed controller in practice. The uniformly ultimate boundedness stability of the closed-loop system is established via Lyapunov analysis. Comparison studies are presented to demonstrate the effectiveness of the proposed composite neural-based dynamic surface control architecture.https://doi.org/10.1177/1729881418786646 |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Jiangfeng Zeng Lei Wan Yueming Li Ziyang Zhang Yufei Xu Gongrong Li |
spellingShingle |
Jiangfeng Zeng Lei Wan Yueming Li Ziyang Zhang Yufei Xu Gongrong Li Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances International Journal of Advanced Robotic Systems |
author_facet |
Jiangfeng Zeng Lei Wan Yueming Li Ziyang Zhang Yufei Xu Gongrong Li |
author_sort |
Jiangfeng Zeng |
title |
Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances |
title_short |
Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances |
title_full |
Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances |
title_fullStr |
Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances |
title_full_unstemmed |
Robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances |
title_sort |
robust composite neural dynamic surface control for the path following of unmanned marine surface vessels with unknown disturbances |
publisher |
SAGE Publishing |
series |
International Journal of Advanced Robotic Systems |
issn |
1729-8814 |
publishDate |
2018-07-01 |
description |
This article presents a robust composite neural-based dynamic surface control design for the path following of unmanned marine surface vessels in the presence of nonlinearly parameterized uncertainties and unknown time-varying disturbances. Compared with the existing neural network-based dynamic surface control methods where only the tracking errors are commonly used for the neural network weight updating, the proposed scheme employs both the tracking errors and the prediction errors to construct the adaption law. Therefore, faster identification of the system dynamics and improved tracking accuracy are achieved. In particular, an outstanding advantage of the proposed neural network structure is simplicity. No matter how many neural network nodes are utilized, only one adaptive parameter that needs to be tuned online, which effectively reduces the computational burden and facilitates to implement the proposed controller in practice. The uniformly ultimate boundedness stability of the closed-loop system is established via Lyapunov analysis. Comparison studies are presented to demonstrate the effectiveness of the proposed composite neural-based dynamic surface control architecture. |
url |
https://doi.org/10.1177/1729881418786646 |
work_keys_str_mv |
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