Adaptive Neural Finite-time Trajectory Tracking Control of MSVs Subject to Uncertainties

Zhang, Qiang; Zhang, Meijuan; Yang, Renming; Im, Nam-Kyun

doi:10.1007/s12555-020-0130-5

Cited by 17 publications

(5 citation statements)

References 41 publications

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“…This technology can also enhance an MSV's adaptability and response speed to sudden disturbances. Zhu et al [10] and Zhang et al [11] developed finite-time control schemes under internal and external uncertain dynamics. However, the introduction of NN technology increases the computational load of the system, and an indirect NN approximation scheme is more closely aligned with the actual needs of the application.…”

Section: Introductionmentioning

confidence: 99%

“…(1) We solve the actuator fault problem in the ABC problem for the first time. Unlike the authors of [11,14], we consider the limitations arising from actuator faults by considering dynamic uncertainties and external disturbances. Unlike the studies in [12][17], the control scheme designed in this paper actively compensates for the loss-of-effectiveness (LOE) fault factor of the system.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Auto-berthing Control for MSVs with a Time-based Generator under Actuator Faults: A Concise Neural Single-Parameter Approach

Chen

2024

Polish Maritime Research

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In this paper, we study the control problem of auto-berthing marine surface vessels (MSVs) within a predefined, finite time in the restricted waters of a port, in the face of internal and external uncertain dynamics and actuator faults. We first use radial basis function neural networks to reconstruct the internal uncertainties of the system; then, using the minimum learning parameter method, we transform the weights of the neural networks, the external disturbances of the system, and the bias fault factors into an indirect single-parameter neural learning mode. We also apply a robust depth information adaptation technique to estimate the upper bound on the composite disturbances online. Dynamic surface control technology alleviates the burden of virtual control derivative calculations. Finite-time convergence of the system is guaranteed by a predetermined finite-time function based on a time-based generator (TBG). Based on these methods, we design a finite-time fault-tolerant auto-berthing control scheme based on TBG. The stability of the system is analysed based on Lyapunov stability theory. Finally, we verify the effectiveness of the proposed control scheme through simulation.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Auto-berthing Control for MSVs with a Time-based Generator under Actuator Faults: A Concise Neural Single-Parameter Approach

Chen

2024

Polish Maritime Research

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“…Ref. [13] provides finite-time trajectory tracking control schemes for marine surface vessels that are influenced by dynamic uncertainties and unknown time-varying disturbances. Neural networks are applied to reconstruct the vehicle's dynamic uncertainties, and the sum of the upper bound of approximation error and external unknown disturbances is estimated by designing an adaptive law.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Formation Tracking Control of Multiple Unmanned Surface Vessels Considering Lumped Disturbances and Input Saturation

Sui,

Zhang,

et al. 2023

Electronics

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This paper investigates the challenging problem of fixed-time formation trajectory tracking control for multiple unmanned surface vessels (USVs) affected by uncertain model dynamics, time-varying external ocean disturbances, as well as input saturation. Firstly, an adaptive super-twisting lumped disturbance observer (ASTLDO) is created by integrating high-order sliding mode with observer technology, which can accurately observe and compensate for the complex disturbance of the system within a finite time. Secondly, following the disturbance observer, backstepping technique, fixed-time control, and virtual leader–follower algorithm, the fixed-time formation tracking strategy is implemented. The proposed formation tracking control scheme enables the multiple surface vessels system to converge and maintain a stable desired formation in a fixed time, and the convergence time is independent of the initial states of the system. Furthermore, an adaptive auxiliary system is introduced to mitigate input saturation. In the end, the effectiveness and anti-interference ability of the suggested approach are confirmed by the formation simulation results of three USVs.

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“…This scheme ensures that both perturbation observation and trajectory tracking errors converge to zero in a finite time. Similarly, Zhang et al [16] recommended a finitetime trajectory tracking control method based on backstepping technique and finite-time control. To estimate unknown external disturbances and the unreconstructed portion of the neural network, they employed a multivariate sliding mode finite-time perturbation observer that incorporated a neural network for reconstructing dynamic uncertainty.…”

Section: Introductionmentioning

confidence: 99%

Fixed-Time Trajectory Tracking Control of Unmanned Surface Vessels with Prescribed Performance Constraints

Sui

Zhang

et al. 2023

Electronics

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This study proposes a fixed-time precision tracking control scheme for unmanned surface vessels with complex disturbances and unknown system dynamics. The control scheme is based on a nonsingular fast terminal sliding mode and includes an adaptive fixed-time integral sliding mode lumped disturbance observer to precisely observe and compensate for lumped unknowns. To ensure system performance under both transient and steady-state conditions, a prescribed performance function was utilized to enable the trajectory tracking error to converge to a predetermined range. The proposed control scheme, called prescribed performance fixed-time precision tracking (PPFTPT), was designed to achieve precision tracking of a predetermined trajectory within a fixed time. The stability of the closed-loop system was analyzed using the Lyapunov stability theory. Simulation results using the Cybership II model confirmed the feasibility and superiority of the proposed PPFTPT scheme.

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Adaptive Neural Finite-time Trajectory Tracking Control of MSVs Subject to Uncertainties

Cited by 17 publications

References 41 publications

Auto-berthing Control for MSVs with a Time-based Generator under Actuator Faults: A Concise Neural Single-Parameter Approach

Auto-berthing Control for MSVs with a Time-based Generator under Actuator Faults: A Concise Neural Single-Parameter Approach

Fixed-Time Formation Tracking Control of Multiple Unmanned Surface Vessels Considering Lumped Disturbances and Input Saturation

Fixed-Time Trajectory Tracking Control of Unmanned Surface Vessels with Prescribed Performance Constraints

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