Model-free adaptive discrete-time full-order sliding mode constrained control for path following of unmanned surface vessels

Model-free adaptive discrete-time full-order sliding mode constrained control for path following of unmanned surface vessels

Considering the dynamic uncertainty, input saturation, and the discrete characteristics of digital control, a practical path following method is proposed for unmanned surface vessels (USV). Online identification for the heading model with uncertainty is presented based on a data-driven technique. Fu...

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Bibliographic Details
Main Authors: Shuang Gao, Hongli Hu, Yulong Tuo, Wei Liang, Zhongyi Huang
Format: Article
Language:English
Published: Elsevier 2023-01-01
Series:International Journal of Naval Architecture and Ocean Engineering
Subjects:
Unmanned surface vessels
Model-free adaptive control
Full-order sliding mode control
Path following
Input saturation
Online Access:http://www.sciencedirect.com/science/article/pii/S2092678223000432

Internet

http://www.sciencedirect.com/science/article/pii/S2092678223000432

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