Neural Network Tracking Control of Ocean Surface Vessels with Input Saturation

被引：67

作者：

Chen, Mou ^{[1
,2
]}

Ge, Shuzhi Sam ^{[2
]}

Choo, Yoo Sang ^{[3
]}

机构：

[1] Nanjing Univ Aeronaut & Astronaut, Coll Automat Engn, Nanjing 210016, Peoples R China

[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117548, Singapore

[3] Natl Univ Singapore, Offshore Res, Singapore 117548, Singapore

来源：

2009 IEEE INTERNATIONAL CONFERENCE ON AUTOMATION AND LOGISTICS ( ICAL 2009), VOLS 1-3 | 2009年

关键词：

DELAY SYSTEMS; FEEDBACK; DESIGN; SHIPS;

D O I：

10.1109/ICAL.2009.5262972

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, robust adaptive tracking control is proposed for ocean surface vessels based on neural network. In the tracking control design, parametric uncertainties, unknown disturbances and input saturation are explicitly considered. Using neural network (NN) approximation and backstepping control techniques, full state feedback control and output feedback control are investigated to tackle system uncertainties and control input saturation. An auxiliary design system is presented to analyze the effect of input saturation, and states of auxiliary design system are utilized to develop the tracking control. Under the both of developed tracking control approaches, semi-global uniform boundedness of all closed-loop signals are guaranteed via Lyapunov analysis. Simulation studies are given to illustrate the effectiveness of the proposed tracking control.

引用

页码：85 / +

页数：2

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