Command filtered robust adaptive NN trajectory tracking control for marine surface vessels under input saturation

2019 ◽  
Author(s):  
Guibing Zhu ◽  
Jialu Du ◽  
Wenhua Li
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Input Saturation ◽  
Trajectory Tracking Control ◽  
Surface Vessels ◽  
Marine Surface ◽  
Robust Adaptive

Event-triggered reset trajectory tracking control for unmanned surface vessel system

2020 ◽  
pp. 095965182095327
Author(s):  
Haoping Wang ◽  
Shuyu Zhang
Keyword(s):  
Trajectory Tracking ◽  
Tracking Control ◽  
Input Saturation ◽  
Lyapunov Stability Theory ◽  
Trajectory Tracking Control ◽  
Nonlinear Disturbance Observer ◽  
Surface Vessels ◽  
Unmanned Surface Vessel ◽  
Reset Control ◽  
Event Triggered

This article considers the trajectory tracking control for unmanned surface vessels with unknown time-variant external disturbances and input saturation. The strategy mainly consists of event-triggered reset sub-controller and nonlinear disturbance observer–based compensation sub-controller. To reduce network transmissions, and in the meanwhile, guarantee the desirable closed-loop behavior, the event-triggered reset control is proposed where the reset law and the event-triggered mechanism are designed separately. Both of static and dynamic event-triggered reset controllers are designed. Their corresponding stability is demonstrated using Lyapunov stability theory. Finally, numerical simulation results are presented to demonstrate the effectiveness and robustness of the proposed trajectory tracking control strategy.

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