Adaptive prescribed performance tracking control for underactuated unmanned surface ships with input quantization
Jiaming Zhang,
Xiang Liu,
Xin Wang
et al.
Abstract:This article investigates the preset performance trajectory tracking control problem of underactuated unmanned surface ships with model uncertainty, unknown external environmental disturbances, and input quantization effects. We consider the non-diagonal damping matrix and mass matrix to satisfy the actual dynamics model of underactuated unmanned surface ships. By adding a hysteresis quantizer, the control method proposed in this article effectively reduces the quantization error. Neural networks are employed … Show more
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