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欠驱动船舶路径跟踪的神经网络稳定自适应控制 - 控制理论与应用
27 2 Vol. 27 No. 2
2010 2 Control Theory Applications Feb. 2010
:2010
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: TP273 : A
Stable adaptive neural network control of path following for
underactuated ships
LIU Yang , GUO Chen , SHEN Zhi-peng , LIU yu , GUO Di
(1. College of Information Science and Technology, Dalian Maritime University, Dalian Liaoning 116026, China;
2. School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics Astronautics,
Beijing 100191, China)
Abstract: We propose a stable adaptive-neural-network control for the path following in a 3 degrees-of-freedom (3DOF)
underactuated ship with parameters uncertainties and disturbances. Based on the diffeomorphism transformation and Lya-
punov direct method, controllers for the reference yaw angle and the reference speed are designed. Signal errors in the
closed-loop path following system are proved to be uniformly ultimately bounded in a small neighborhood of zero. Numer-
ical simulation results are given to illustrate the effectiveness of the stable adaptive-neural-network algorithm.
Key words: underactuated ships; path tracking; Lyapunov direct method; neural network; stable adaptive autopilot
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