Adaptive neural output constrained control for an unmanned surface vessel with coupled input constraint

In this paper, we focus on the tracking control problem of an uncertain unmanned surface vessel (USV) system with coupled input constraint and output constraint. Considering the issue of coupled input constraint, a transformation matrix is proposed to decouple the constrained inputs. Concerning output constraint occurring in a limited time interval (OCOLT) of the USV system, a novel shifting function with a new barrier function is introduced to transform the constrained system into an unconstrained one. Furthermore, neural network technology is employed to tackle the problems of system uncertainty. Through the Lyapunov stability theory, the stability analysis of the USV system is given to demonstrate the feasibility of the proposed control method. Finally, effectiveness of the proposed control method is verified by simulations.