Adaptive path-following control for underactuated ships with quantized input

被引：0
|
作者：
Cao, Qiong [1 ]
Zhang, Guoqing [1 ]
Huang, Chenfeng [1 ]
Zhang, Xianku [1 ]
机构：
[1] Dalian Maritime Univ, Nav Coll, Dalian, Peoples R China
来源：
2024 14TH ASIAN CONTROL CONFERENCE, ASCC 2024 | 2024年
基金：
美国国家科学基金会;
关键词：
Underactuated ships; Input quantization; Robust adaptive control; Path-following; SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents an input quantization control method for underactuated surface vehicel(USV). The neural network adaptive control algorithm with quantized input signal effectively reduces the occupation of communication resources and the unduly execution of actuators. Two different adaptive parameters are designed to deal with the model inconsistency caused by ships and the signal transition caused by hysteresis quantizer respectively. On the basis of Lyapunov analysis, all the signals of the closed-loop control system are guaranteed to be semi-global uniform ultimate bounded (SGUUB). Finally, the validity of the proposed algorithm is verified by numerical simulation for the predetermined ocean trajectory of the real ship.
引用
收藏
页码：2029 / 2034
页数：6
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