Abstract
This paper presents a study on autopilot design for an unmanned surface vehicle subject to dynamical uncertainty, time-varying ocean disturbances and unmeasured yaw rate. An output feedback adaptive steering law is developed based on a state observer and a neural network using iterative updating law. As a result, this approach is able to achieve automatic yaw control in presence of dynamical uncertainty and time-varying ocean disturbances without yaw rate measurement. Using a Lyapunov-Krasovskii functional, it is proven that the error signals are uniformly ultimately bounded. Simulation result is given to show the effectiveness of the proposed method.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
