Neural network based adaptive dynamic surface control for cooperative path following of marine surface vehicles via state and output feedback

Command filter based globally stable adaptive neural control for cooperative path following of multiple underactuated autonomous underwater vehicles with partial knowledge of the reference speed

“…Our design leads to a much simpler cooperative path following controller. [5,14,20,21] . It is important to note that in some practical applications for AUVs, the desired path may be generated by a planner or a user input device that does not provide higher order derivatives.…”

“…This method is later applied to solve the formation control problem of autonomous surface vehicles in the presence of dynamic uncertainty and environmental disturbances in [15] . It should be noted that although the simplified formation controllers have been derived for many kinds of cooperative control of multi-agent/robot system [15][16][17][18][19][20][21]47] , the higher derivative of the reference signal is required to be known due to the NN based DSC technique, which is quite impractical in applications.…”

“…On the other hand, a major assumption in cooperative path following design of [3,6,9,10,[19][20][21] is the global knowledge of the reference speed. In spite of leading to decentralized control laws that only exchange of path variables among the vehicles, the common reference speed must assume to be known to all vehicles.…”

“…In this way, analytic computation of the higher derivatives of the reference signal is no longer necessary, i.e., only the first derivative of reference path is required in our design while standard DSC design needs the knowledge of second derivative [5,14,20,21] .…”

Adaptive fuzzy tracking control for a constrained flexible air-breathing hypersonic vehicle based on actuator compensation

“…However, it is well known that there exists a problem of ''explosion of terms'' in the traditional back-stepping design, which is caused by the repeated differentiations of virtual control laws. To solve this problem, dynamic surface control 15 is designed by introducing a low-pass filter in each step of back-stepping design.…”