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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-11-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/11/2160 |
| _version_ | 1827639554540044288 |
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| author | Yi Ren Lei Zhang Wenbin Huang Xi Chen |
| author_facet | Yi Ren Lei Zhang Wenbin Huang Xi Chen |
| author_sort | Yi Ren |
| collection | DOAJ |
| description | 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 internal model parameter deterrence. Then, the circular path guidance law and controller are designed to ensure that the USV can move along the desired path. During the design process, a proportional derivative (PD)-based sigmoid fuzzy function is applied to adjust the guidance law. To accommodate unknown system dynamics and perturbations, a radial basis function neural network and adaptive updating laws are adopted to design the surge motion and yaw motion controllers, estimating the unmodeled hydrodynamic coefficients and external disturbances. Theoretical analysis shows that tracking errors are uniformly ultimately bounded (UUB), and the closed-loop system is asymptotically stable. Finally, the simulation results show that the proposed controller can achieve good control effects while ensuring tracking accuracy and demonstrating satisfactory disturbance rejection capability. |
| first_indexed | 2024-03-09T16:41:59Z |
| format | Article |
| id | doaj.art-5906d90d4c94406bbc53b8b839c535aa |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-09T16:41:59Z |
| publishDate | 2023-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-5906d90d4c94406bbc53b8b839c535aa2023-11-24T14:50:39ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-11-011111216010.3390/jmse11112160Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean DisturbancesYi Ren0Lei Zhang1Wenbin Huang2Xi Chen3Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaScience and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin 150001, ChinaThis 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 internal model parameter deterrence. Then, the circular path guidance law and controller are designed to ensure that the USV can move along the desired path. During the design process, a proportional derivative (PD)-based sigmoid fuzzy function is applied to adjust the guidance law. To accommodate unknown system dynamics and perturbations, a radial basis function neural network and adaptive updating laws are adopted to design the surge motion and yaw motion controllers, estimating the unmodeled hydrodynamic coefficients and external disturbances. Theoretical analysis shows that tracking errors are uniformly ultimately bounded (UUB), and the closed-loop system is asymptotically stable. Finally, the simulation results show that the proposed controller can achieve good control effects while ensuring tracking accuracy and demonstrating satisfactory disturbance rejection capability.https://www.mdpi.com/2077-1312/11/11/2160path followingline of sightrobust controlunderactuated unmanned surface vehiclesliding modeadaptive control |
| spellingShingle | Yi Ren Lei Zhang Wenbin Huang Xi Chen Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances Journal of Marine Science and Engineering path following line of sight robust control underactuated unmanned surface vehicle sliding mode adaptive control |
| title | Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances |
| title_full | Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances |
| title_fullStr | Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances |
| title_full_unstemmed | Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances |
| title_short | Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances |
| title_sort | neural network based adaptive sigmoid circular path following control for underactuated unmanned surface vessels under ocean disturbances |
| topic | path following line of sight robust control underactuated unmanned surface vehicle sliding mode adaptive control |
| url | https://www.mdpi.com/2077-1312/11/11/2160 |
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