Abstract
This paper proposes an adaptive trajectory tracking control strategy for underactuated unmanned surface vehicles subject to unknown dynamics and time-varing external disturbances. In short, the goal of this paper is to provide a control strategy that allows an underactuated unmanned surface vehicle to track a time dependent trajectory. First, a first-order sliding surface is introduced into the design of surge control law to converge to surge tracking error, and then a second-order sliding surface is hired to design yaw control law to deal with sway motion tracking error. Meanwhile, neural network minimum learning parameter method, which has a smaller amount of computation than a multilayer neural network, is employed to preserve the control law robustness against unknown dynamics and time-varing disturbances induced by wind, waves and ocean currents. Furthermore, much effort is made to obtain uniform ultimate bounded stability for the closed-loop control system. Finally, the numerical simulation experiments of straight line and circle trajectory tracking have been given to prove the correctness and feasibility of the proposed control strategy.
Highlights
With the continuous advancement of science and technology, the modern ship system is moving toward a systematic, intelligent and unmanned direction
In [21], the sliding mode control algorithm is introduced into the design of a trajectory tracking controller for underactuated Unmanned Surface Vehicles (USVs), but it does not consider the effects of unknown dynamics and time-varing disturbances
Motivated by the above-mentioned observations, an adaptive trajectory tracking control strategy for engineering implementation, which is performed by using first-order sliding surface, second-order sliding surface and neural network minimum learning parameter method, is designed for an underactuated USV subject to unknown dynamics and time-varing external disturbances
Summary
With the continuous advancement of science and technology, the modern ship system is moving toward a systematic, intelligent and unmanned direction. Sci. 2018, 8, 547 and velocity constraints, dynamic surface control (DSC) technology is used to design a trajectory tracking control strategy for an underactuated ship [15]. In [21], the sliding mode control algorithm is introduced into the design of a trajectory tracking controller for underactuated USV, but it does not consider the effects of unknown dynamics and time-varing disturbances. Motivated by the above-mentioned observations, an adaptive trajectory tracking control strategy for engineering implementation, which is performed by using first-order sliding surface, second-order sliding surface and neural network minimum learning parameter method, is designed for an underactuated USV subject to unknown dynamics and time-varing external disturbances. (1) A novel control approach for an underactuated USV to achieve trajectory tracking by stabilizing surge velocity and sway velocity through a first-order sliding surface and a second-order sliding surface, respectively, is proposed.
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