Tracking control of a marine surface vessel with full-state constraints |
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| Authors: | Zhao Yin Chenguang Yang |
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| Affiliation: | 1. School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu, China;2. Zienkiewicz Centre for Computational Engineering, Swansea University, Swansea, United Kingdom |
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| Abstract: | In this paper, a trajectory tracking control law is proposed for a class of marine surface vessels in the presence of full-state constraints and dynamics uncertainties. A barrier Lyapunov function (BLF) based control is employed to prevent states from violating the constraints. Neural networks are used to approximate the system uncertainties in the control design, and the control law is designed by using the Moore-Penrose inverse. The proposed control is able to compensate for the effects of full-state constraints. Meanwhile, the signals in the closed-loop system are guaranteed to be semiglobally uniformly bounded, with the asymptotic tracking being achieved. Finally, the performance of the proposed control has been tested and verified by simulation studies. |
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| Keywords: | Learning control state constraints marine surface vessel barrier lyapunov function adaptive control neural networks |
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