Concise Robust Adaptive Path-Following Control of Underactuated Ships Using DSC and MLP

Path Following Control of the Underactuated USV Based On the Improved Line-of-Sight Guidance Algorithm

“…Compared with the literature [9,10,12,16], the vibration of the controller is relatively smaller and the stability is better. Compared with the path following controller designed in the literature [5,19,21], the present controller is more versatile and can realize both the curve path and the straight-line path following control.…”

“…Under the assumption that the forward velocity of the snake robot is nonzero and positive, the authors prove that the proposed path following controller k-exponentially stabilizes the snake robot to any desired straight path. The problem of robust adaptive path following control for an underactuated ship with model uncertainties and nonzero-mean time-varying disturbances is studied in [9], where a concise adaptive neural network (NN) based control scheme is proposed. This scheme makes use of backstepping, feedforward approximations, dynamic surface control, and minimal learning parameter techniques.…”

“…Moreover, some of the published research results have been derived by combining the traditional LOS approach and nonlinear control methods [7,13,14,20,]. It is noteworthy that some researchers execute path following control using complex system state transform techniques and intelligent learning algorithms which are difficult to design and not easy to implement in the real path following control system [4,6,[9][10][11][12][15][16][17][18][19]21]. Motivated by those considerations, this paper addresses path following control of an underactuated USV based on an improved LOS guidance algorithm.…”

Adaptive Trajectory Tracking Control for Underactuated Unmanned Surface Vehicle Subject to Unknown Dynamics and Time-Varing Disturbances

“…Generally, trajectory tracking is an important topic in the field of USV research, and it is the guarantee for many applications in the future, such as formation operations, and so on [5,6]. However, a very realistic and urgent problem to be solved is that the overwhelming majority of USVs with propellers and rudders belong to an underactuated system, while without any actuators for direct control of sway motion [7][8][9]. Therefore, how to design robust trajectory tracking controllers under the condition of underactuated characteristics for USVs is a very worthwhile problem.…”

Fast and Accurate Trajectory Tracking Control of an Autonomous Surface Vehicle With Unmodeled Dynamics and Disturbances

“…In combination with neural networks (NNs) and adaptive robust control techniques [11], a saturated tracking controller that renders tracking errors semi-globally uniformly ultimately bounded has been proposed to preserve the robustness against time-varying disturbances induced by waves and ocean currents. In addition to NNs [12]- [14], a lot of efforts on adaptive approximation based tracking control have also been made via fuzzy systems (FS) [15]- [19], and fuzzy neural networks (FNN) [20]- [25], etc., and can roughly compensate unknown dynamics. Recently, a significant progress has been made by an innovative approximator termed self-constructing fuzzy neural network (SCFNN) [26]- [29] towards the dynamic-structure-approximation based adaptive control approaches [20] with much higher accuracy of both reconstruction and trajectory tracking.…”