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https://doi.org/10.1155/2018/2595721
Title: | Adaptive Learning Based Tracking Control of Marine Vessels with Prescribed Performance | Authors: | Xu, Z Ge, S.S Hu, C Hu, J |
Keywords: | Controllers Navigation Adaptive neural networks Adaptive tracking controller Dominant dynamic behavior External disturbances Prescribed performance Steady state tracking Tracking performance Unknown disturbance Adaptive control systems |
Issue Date: | 2018 | Publisher: | Hindawi Limited | Citation: | Xu, Z, Ge, S.S, Hu, C, Hu, J (2018). Adaptive Learning Based Tracking Control of Marine Vessels with Prescribed Performance. Mathematical Problems in Engineering 2018 : 2595721. ScholarBank@NUS Repository. https://doi.org/10.1155/2018/2595721 | Rights: | Attribution 4.0 International | Abstract: | A novel adaptive tracking controller of fully actuated marine vessels is proposed with completely unknown dynamics and external disturbances. The model of dominant dynamic behaviors and unknown disturbances of the vessel are learned by a neural network in real time. The controller is designed and it unifies backstepping and adaptive neural network techniques with predefined tracking performance constraints on the tracking convergence rate and the transient and steady-state tracking error. The stability of the proposed adaptive tracking controller of the vessel is proven with a uniformly bounded tracking error. The proposed adaptive tracking controller is shown to be effective in the tracking control of marine vessels by simulations. © 2018 Zhao Xu et al. | Source Title: | Mathematical Problems in Engineering | URI: | https://scholarbank.nus.edu.sg/handle/10635/179063 | ISSN: | 1024123X | DOI: | 10.1155/2018/2595721 | Rights: | Attribution 4.0 International |
Appears in Collections: | Staff Publications Elements |
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