Adaptive Dynamic Surface Control for Coordinated Target Tracking of Autonomous Surface Vehicles using Neural Networks

摘要：

This paper considers the coordinated target tracking problem of multiple autonomous surface vehicles subject to uncertainties and ocean disturbances. Motivated by the pure-pursuit guidance scheme developed for intercepting missiles and point-to-point navigation of ships, a formation control strategy is proposed by the follower to track a virtual target defined relative to the leader. The path that the virtual target traverse is not a priori. By employing the neural network and dynamic surface control techniques, a robust adaptive target tracking law is developed. The proposed controller guarantees that the target tracking errors converge to a small neighborhood of origin. The advantage of the proposed controller is that the coriolis/centripetal force, nonlinear damping, unmodeled hydrodynamics and disturbances from the environment can be compensated by on-line learning. An example is given to illustrate the efficacy of the proposed method.

关键词： Coordinated Target Tracking Dynamic Surface Control Neural Networks Autonomous Surface Vehicles

作者: Dan Wang Zhouhua Peng Gang Sun HaoWang

作者单位: Marine Engineering College, Dalian Maritime University, Dalian 116026, P. R. China

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 2871-2876

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）