RBFNN-Based Path Following Adaptive Control for Underactuated Surface Vessels

摘要：

　　A robust adaptive control strategy is developed to force an underactuated surface vessel to follow a reference path at a desired speed with the unknown parameters,despite the presence of environmental disturbances induced by wave,wind,and ocean current.The proposed controller is designed by using RBF neural networks and the backstepping techniques.The proposed control system allows for both low-and high-speed applications since linear and nonlinear damping terms were considered in the control design.Numerical simulation results are provided to demonstrate the effectiveness of the proposed controller design and the accuracy of stability analysis.

关键词： Underactuated surface vessels Path following RBF neural networks Adaptive control

作者: Wei Meng Chen Guo

作者单位: School of Information Engineering,Dalian Ocean University,Dalian 116023,China School of Information Science and Technology,Dalian Maritime University,Dalian 116026,China

会议类型: 国际会议

会议名称: The 2015 Chinese Intelligent Automation Conference(2015中国智能自动化会议)

会议地点: 福州

会议语种:英文

页码: 203-212

在线出版日期: 2015-05-08（万方平台首次上网日期，不代表论文的发表时间）