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Adaptive Neural Network Control of a Marine Vessel With Constraints Using the Asymmetric Barrier Lyapunov Function
Abstract
In this paper, we consider the trajectory tracking of a marine surface vessel in the presence of output constraints and uncertainties. An asymmetric barrier Lyapunov function is employed to cope with the output constraints. To handle the system uncertainties, we apply adaptive neural networks to approximate the unknown model parameters of a vessel. Both full state feedback control and output feedback control are proposed in this paper. The state feedback control law is designed by using the Moore-Penrose pseudoinverse in case that all states are known, and the output feedback control is designed using a high-gain observer. Under the proposed method the controller is able to achieve the constrained output. Meanwhile, the signals of the closed loop system are semiglobally uniformly bounded. Finally, numerical simulations are carried out to verify the feasibility of the proposed controller.
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Cited by
Survey of deep learning for autonomous surface vehicles in marine environments
Qiao, Y., Yin, J., Wang, W., Duarte, F., Yang, J., & Ratti, C. (2023) · IEEE Transactions on Intelligent Transportation Systems · doi:10.1109/tits.2023.3235911 · Cited by 192
Sun, J., Yi, J., & Pu, Z. (2022) · IEEE Transactions on Fuzzy Systems · doi:10.1109/tfuzz.2021.3052610 · Cited by 184
Phan, V. D., Truong, H. V. A., & Ahn, K. K. (2023) · ISA Transactions · doi:10.1016/j.isatra.2022.08.023 · Cited by 66
Yang, G., Wang, H., Chen, J., & Zhang, H. (2020) · Nonlinear Dynamics · doi:10.1007/s11071-020-05921-y · Cited by 27
Wang, C., Wang, D., & Han, Y. (2021) · International Journal of Control, Automation and Systems · doi:10.1007/s12555-020-0582-7 · Cited by 15
Metadata
- Authors
- He, W., Yin, Z., & Sun, C.
- Venue
- IEEE Transactions on Cybernetics
- Published
- 2017-07
- Volume
- 47
- Issue
- 7
- Pages
- 1641-1651
- ISSN
- 2168-2267 (ISSN-L)
- 2168-2275
- OpenAlex
- W2372306012
- Cited by
- 463
- References
- 0
- FWCI
- 33.11
- Type
- journal article
- Language
- en
- Open access
- closed
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- He, W., Yin, Z., & Sun, C. (2017). Adaptive Neural Network Control of a Marine Vessel With Constraints Using the Asymmetric Barrier Lyapunov Function. IEEE Transactions on Cybernetics. https://doi.org/10.1109/tcyb.2016.2554621
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