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1 Polish Maritime Research

1 2024

1 Chen L.

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

100%

Chen L.

tom nr 2

92--98

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.