ADP-based adaptive control of ship course tracking system with prescribed performance

被引：1
|
作者：
Li, Peng [1 ]
Bai, Weiwei [1 ,2 ]
Zhang, Wenjun [1 ,2 ]
Zhao, Yang [3 ]
机构：
[1] Dalian Maritime Univ, Nav Coll, 1 Linghai Rd, Dalian 116026, Peoples R China
[2] Dalian Maritime Univ, Dalian Key Lab Safety & Secur Technol Autonomous S, Dalian, Peoples R China
[3] Univ Elect Sci & Technol, Sch Automat Engn, Chengdu, Peoples R China
来源：
PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART I-JOURNAL OF SYSTEMS AND CONTROL ENGINEERING | 2024年
基金：
中国国家自然科学基金;
关键词：
ADP; prescribed performance; ship course tracking; adaptive control; NEURAL-NETWORKS; DYNAMICS; DESIGN;
D O I：
10.1177/09596518241286422
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, an adaptive dynamic programing (ADP)-based adaptive control problem is studied for the ship course tracking system with prescribed performance. Firstly, the complex sea conditions will bring difficulty to ship course tracking when unmanned ship sailing on sea. In order to overcome this difficulty, a prescribed performance feedforward term is designed in the controller to improve the course tracking ability of ship. Secondly, by defining a cost function, an ADP technology is exploited to achieve an optimal control of ship course tracking system. Finally, the stability of the closed loop system is turned out by Lyapunov stability theory and all signals are uniformly ultimately bounded (UUB). Simulation results validate the effectiveness of the proposed method.
引用
收藏
页数：10
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