RBF network based integral backstepping sliding mode control for USV

摘要：

　　A kind of USV course RBF network control algorithm is putted forward,which is on the basis of integral backstepping sliding mode.First of all,an integrator sliding surface were designed with the sliding mode variable structure control technology.Secondly,radial basis function neural network was applied to approximate the system nonlinear function and uncertain parameters.Furthermore,a nonlinear damping law was introduced to overcome the bounded outside interference.Finally,on the basis of the above,the system control law was deduced by using the backstepping method.The simulation results show that the neural network can accurately approximate the nonlinear function and uncertain parameters,and the controller output is smooth and the output is not sensitive to perturbation of parameters.Therefore,the proposed algorithm is effective for USV course control.

作者: Renqiang Wang Hua Deng Keyin Miao Yue Zhao Jiabao Du

作者单位: Navigation College,Jiangsu Maritime Institute,Nanjing 211170,PR China

会议类型: 国际会议

会议名称: 2017第三届机械、电子和信息技术工程国际会议(ICMITE 2017)

会议地点: 成都

会议语种:英文

页码: 1-5

在线出版日期: 2017-12-16（万方平台首次上网日期，不代表论文的发表时间）