Adaptive tracking control of underactuated surface vessels with model uncertainties

This paper presents adaptive trajectory tracking control of underactuated surface vessels with uncertain hydrodynamic damping dynamics. Thanks to the universal approximation capability, radial basis function (RBF) neural networks (NNs) are employed to approximate the unknown damping dynamics. A transverse function approach is applied to introduce an additional control input for tackling the difficulties of underactuated systems. A smooth adaptive tracking controller is proposed to guarantee semi-globally practical stabilization (i.e., semi-globally stability of a small neighborhood of the desired trajectory), where the desired trajectory is allowed to be feasible or non-feasible. The effectiveness of the proposed adaptive controller is demonstrated through simulation results.

[1]  Yoo Sang Choo,et al.  Leader-follower formation control of underactuated autonomous underwater vehicles , 2010 .

[2]  Cong Wang,et al.  Dynamic Learning From Adaptive Neural Network Control of a Class of Nonaffine Nonlinear Systems , 2014, IEEE Transactions on Neural Networks and Learning Systems.

[3]  Zhong-Ping Jiang,et al.  Robust adaptive path following of underactuated ships , 2004, Autom..

[4]  R. W. Brockett,et al.  Asymptotic stability and feedback stabilization , 1982 .

[5]  Zhong-Ping Jiang,et al.  Global tracking control of underactuated ships by Lyapunov's direct method , 2002, Autom..

[6]  Roger Skjetne,et al.  Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory , 2005, Autom..

[7]  Dan Wang,et al.  Adaptive Dynamic Surface Control for Formations of Autonomous Surface Vehicles With Uncertain Dynamics , 2013, IEEE Transactions on Control Systems Technology.

[8]  Yong-Kon Lim,et al.  Point-to-point navigation of underactuated ships , 2008, Autom..

[9]  Cong Wang,et al.  Neural Learning Control of Marine Surface Vessels With Guaranteed Transient Tracking Performance , 2016, IEEE Transactions on Industrial Electronics.

[10]  Thor I. Fossen,et al.  Marine Control Systems Guidance, Navigation, and Control of Ships, Rigs and Underwater Vehicles , 2002 .

[11]  Tarek Hamel,et al.  Transverse function control of a motorboat , 2016, Autom..

[12]  Jooyoung Park,et al.  Universal Approximation Using Radial-Basis-Function Networks , 1991, Neural Computation.

[13]  Khac Duc Do,et al.  Practical control of underactuated ships , 2010 .

[14]  Pascal Morin,et al.  Practical stabilization of driftless systems on Lie groups: the transverse function approach , 2003, IEEE Trans. Autom. Control..

[15]  Warren E. Dixon,et al.  Tracking and regulation control of an underactuated surface vessel with nonintegrable dynamics , 2000, Proceedings of the 39th IEEE Conference on Decision and Control (Cat. No.00CH37187).