Robust Neural Network Trajectory-Tracking Control of Underactuated Surface Vehicles Considering Uncertainties and Unmeasurable Velocities

Robust Neural Network Trajectory-Tracking Control of Underactuated Surface Vehicles Considering Uncertainties and Unmeasurable Velocities

This article focuses on the trajectory-tracking of an underactuated surface vehicle (USV) considering model uncertainties and nonlinear environmental disturbances. For trajectory tracking in an actual USV sailing environment, both the inertia and damping matrixes are not diagonal, the velocities sta...

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Bibliographic Details
Main Authors: Lanping Zou, Haitao Liu, Xuehong Tian
Format: Article
Language:English
Published: IEEE 2021-01-01
Series:IEEE Access
Subjects:
Underactuated surface vehicle
trajectory tracking
prescribed performance
neural network
output feedback control
Online Access:https://ieeexplore.ieee.org/document/9521254/

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