Event-triggered adaptive neural network trajectory tracking control for underactuated ships under uncertain disturbance

• Autorzy: Su Wenxue , Zhang Qiang , Liu Yufeng

Identyfikatory

DOI

10.2478/pomr-2023-0045

• Języki publikacji: EN

Abstrakty

EN

An adaptive neural network (NN) event-triggered trajectory tracking control scheme based on finite time convergence is proposed to address the problem of trajectory tracking control of underdriven surface ships. In this scheme, both NNs and minimum learning parameters (MLPS) are applied. The internal and external uncertainties are approximated by NNs. To reduce the computational complexity, MLPs are used in the proposed controller. An event-triggered technique is then incorporated into the control design to synthesise an adaptive NN-based event-triggered controller with finite-time convergence. Lyapunov theory is applied to prove that all signals are bounded in the tracking system of underactuated vessels, and to show that Zeno behavior can be avoided. The validity of this control scheme is determined based on simulation results, and comparisons with some alternative schemes are presented.

Słowa kluczowe

EN

event-triggered control; underactuated marine surface vessels; adaptive neural network; trajectory tracking; finite-time

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2023
• Tom: nr 3
• Strony: 119--131
• Opis fizyczny: Bibliogr. 40 poz., rys.

Twórcy

autor

Su Wenxue

• School of Navigation and shipping, Shandong Jiaotong University, China

• https://orcid.org/0000-0002-7064-2258

autor

Zhang Qiang

• School of Navigation and shipping, Shandong Jiaotong University, China

• https://orcid.org/0000-0001-6765-930X

autor

Liu Yufeng

• University of Toronto OISE, China

• https://orcid.org/0000-0001-6167-9852

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Uwagi

PL

Opracowanie rekordu ze środków MNiSW, umowa nr SONP/SP/546092/2022 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2024).