Automatic berthing of unmanned surface vessels with predetermined performance
Qiwen Wang,
Qiang Zhang,
Enrui Zhao
et al.
Abstract:To solve the problem of ship automatic berthing control due to unknown time-varying disturbance and dynamic uncertainty of model parameters, an automatic berthing control law based on predefined performance time function is proposed. First, a predefined performance time function is designed and coupled with tracking error to achieve the predetermined performance of tracking error. Secondly, radial basis function neural network is used to approach the dynamic uncertainty of ship model parameters, and the comple… Show more
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