Practical Robust Neural Path Following Control for Underactuated Marine Vessels with Actuators Uncertainties

2016 ◽  
Vol 19 (1) ◽  
pp. 173-187 ◽  
Author(s):  
Guoqing Zhang ◽  
Xianku Zhang
Keyword(s):  
Path Following ◽  
Path Following Control ◽  
Marine Vessels

Path Following Control of Underactuated Marine Vessels via Dynamic Surface Control Technique

2008 ◽  
Author(s):  
So-Ryeok Oh ◽  
Jing Sun ◽  
Zhen Li
Keyword(s):  
Design Method ◽  
Direct Method ◽  
Design Procedure ◽  
Path Following ◽  
Dynamic Surface Control ◽  
Control Technique ◽  
Dynamic Surface ◽  
Surface Control ◽  
Path Following Control ◽  
Marine Vessels

This paper considers the path following problem of underactuated marine vessels whose control imposes a challenging problem due to its under-actuated nature. The recently developed Dynamic Surface Control (DSC) design method is applied to overcome the problem of explosion of terms associated with the backstepping design procedure. We show that the exponential stability of the resulting closed loop dynamics can be proved using Lyapunov direct method. The feasibility of the proposed Dynamic Surface Controller is evaluated analytically and verified through computer simulations and experiments.

Path Following Control of Tractor-trailers with Off-axle Hitching

2010 ◽  
Vol 36 (9) ◽  
pp. 1272-1278 ◽  
Author(s):  
Huo-Feng ZHOU ◽  
Bao-Li MA ◽  
Li-Hui SONG ◽  
Fang-Fang ZHANG
Keyword(s):  
Path Following ◽  
Path Following Control
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