Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances

Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances

This study describes a circular curve path-following controller for an underactuated unmanned surface vessel (USV) experiencing unmodeled dynamics and external disturbances. Initially, a three degrees of freedom kinematic model of the USV is proposed for marine environmental disturbances and interna...

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Bibliographic Details
Main Authors: Yi Ren, Lei Zhang, Wenbin Huang, Xi Chen
Format: Article
Language:English
Published: MDPI AG 2023-11-01
Series:Journal of Marine Science and Engineering
Subjects:
path following
line of sight
robust control
underactuated unmanned surface vehicle
sliding mode
adaptive control
Online Access:https://www.mdpi.com/2077-1312/11/11/2160

Internet

https://www.mdpi.com/2077-1312/11/11/2160

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