ARTÍCULO
TITULO

Neural Network-Based Adaptive Sigmoid Circular Path-Following Control for Underactuated Unmanned Surface Vessels under Ocean Disturbances

Yi Ren    
Lei Zhang    
Wenbin Huang and Xi Chen    

Resumen

This study describes a circular curve path-following controller for an underactuated unmanned surface vessel (USV) experiencing unmodeled dynamics and external disturbances. Initially, a three degrees of freedom kinematic model of the USV is proposed for marine environmental disturbances and internal model parameter deterrence. Then, the circular path guidance law and controller are designed to ensure that the USV can move along the desired path. During the design process, a proportional derivative (PD)-based sigmoid fuzzy function is applied to adjust the guidance law. To accommodate unknown system dynamics and perturbations, a radial basis function neural network and adaptive updating laws are adopted to design the surge motion and yaw motion controllers, estimating the unmodeled hydrodynamic coefficients and external disturbances. Theoretical analysis shows that tracking errors are uniformly ultimately bounded (UUB), and the closed-loop system is asymptotically stable. Finally, the simulation results show that the proposed controller can achieve good control effects while ensuring tracking accuracy and demonstrating satisfactory disturbance rejection capability.

 Artículos similares

       
 
Wen Tian, Yining Zhang, Ying Zhang, Haiyan Chen and Weidong Liu    
To fully leverage the spatiotemporal dynamic correlations in air traffic flow and enhance the accuracy of traffic flow prediction models, thereby providing a more precise basis for perceiving congestion situations in the air route network, a study was co... ver más
Revista: Aerospace

 
Md Easin Hasan and Amy Wagler    
Neuroimaging experts in biotech industries can benefit from using cutting-edge artificial intelligence techniques for Alzheimer?s disease (AD)- and dementia-stage prediction, even though it is difficult to anticipate the precise stage of dementia and AD.... ver más
Revista: AI

 
Kalyan Chatterjee, M. Raju, N. Selvamuthukumaran, M. Pramod, B. Krishna Kumar, Anjan Bandyopadhyay and Saurav Mallik    
According to global data on visual impairment from the World Health Organization in 2010, an estimated 285 million individuals, including 39 million who are blind, face visual impairments. These individuals use non-contact methods such as voice commands ... ver más
Revista: Information

 
Chenhong Yan, Shefeng Yan, Tianyi Yao, Yang Yu, Guang Pan, Lu Liu, Mou Wang and Jisheng Bai    
Ship-radiated noise classification is critical in ocean acoustics. Recently, the feature extraction method combined with time?frequency spectrograms and convolutional neural networks (CNNs) has effectively described the differences between various underw... ver más

 
Tahsin Koroglu and Elanur Ekici    
In recent years, wind energy has become remarkably popular among renewable energy sources due to its low installation costs and easy maintenance. Having high energy potential is of great importance in the selection of regions where wind energy investment... ver más
Revista: Applied Sciences