Trajectory Linearization-Based Adaptive PLOS Path Following Control for Unmanned Surface Vehicle with Unknown Dynamics and Rudder Saturation

Trajectory Linearization-Based Adaptive PLOS Path Following Control for Unmanned Surface Vehicle with Unknown Dynamics and Rudder Saturation

This paper presents a novel robust control strategy for path following of an unmanned surface vehicle (USV) suffering from unknown dynamics and rudder saturation. The trajectory linearization control (TLC) method augmented by the neural network, linear extended state observer (LESO), and auxiliary s...

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Bibliographic Details
Main Authors: Bingbing Qiu, Guofeng Wang, Yunsheng Fan
Format: Article
Language:English
Published: MDPI AG 2020-05-01
Series:Applied Sciences
Subjects:
path following
TLC method
LESO
predictor line-of-sight
fuzzy method
neural network
Online Access:https://www.mdpi.com/2076-3417/10/10/3538

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