Auto-berthing control for MSVs with a time-based generator under actuator faults: a concise neural single-parameter approach

• Autorzy: Chen, Liping
• Języki publikacji: EN

Abstrakty

EN

In this paper, we study the control problem of auto-berthing marine surface vessels (MSVs) within a predefined, finite time in the restricted waters of a port, in the face of internal and external uncertain dynamics and actuator faults. We first use radial basis function neural networks to reconstruct the internal uncertainties of the system; then, using the minimum learning parameter method, we transform the weights of the neural networks, the external disturbances of the system, and the bias fault factors into an indirect single-parameter neural learning mode. We also apply a robust depth information adaptation technique to estimate the upper bound on the composite disturbances online. Dynamic Surface control technology alleviates the burden of virtual control derivative calculations. Finite-time convergence of the system is guaranteed by a predetermined finite-time function based on a time-based generator (TBG). Based on these methods, we design a finite-time fault-tolerant auto-berthing control scheme based on TBG. The stability of the system is analysed based on Lyapunov stability theory. Finally, we verify the effectiveness of the proposed control scheme through simulation.

Słowa kluczowe

EN

auto-berthing control; time-based generator; minimum learning parameter; finite-time control; concise neural single-parameter; actuator faults

• Czasopismo: Polish Maritime Research
• Rocznik: 2024
• Tom: nr 2
• Strony: 92--98
• Opis fizyczny: Bibliogr. 20 poz., rys., tab.

Twórcy

autor

Chen, Liping

• School of Ocean Information Engineering, Jimei University, Xiamen, 361024 China,

Bibliografia

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• 16. Meng X F, Zhang G C, Han B. Fault-tolerant control of underactuated MSVs based on neural finite-time disturbance observer: An event-triggered mechanism. Journal of the Franklin Institute 361(4), 2024, doi: 10.1016/j. jfranklin.2024.01.004.
• 17. Meng X F, Zhang G C, Zhang Q. Event-triggered trajectory tracking control of underactuated surface vessels with performance-improving mechanisms under input saturation and actuator faults. Transactions of the Institute of Measurement and Control 2023, doi:10.1177/01423312231187008.
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Identyfikatory

DOI

10.2478/pomr-2024-0025