Robust Adaptive Trajectory Linearization Control for Tracking Control of Surface Vessels With Modeling Uncertainties Under Input Saturation

Robust Adaptive Trajectory Linearization Control for Tracking Control of Surface Vessels With Modeling Uncertainties Under Input Saturation

This paper develops a novel adaptive trajectory tracking control strategy to enhance the tracking performance for surface vessels with unmodeled dynamics and unknown time-varying disturbances. A high robustness and precision trajectory tracking controller is presented by using trajectory linearizati...

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Bibliographic Details
Main Authors: Bingbing Qiu, Guofeng Wang, Yunsheng Fan, Dongdong Mu, Xiaojie Sun
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Trajectory linearization control
surface vessels
neural network
auxiliary dynamic system
extended state observer
nonlinear tracking differentiator
Online Access:https://ieeexplore.ieee.org/document/8589062/

Internet

https://ieeexplore.ieee.org/document/8589062/

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