Neural network-based tracking control of autonomous marine vehicles with unknown actuator dead-zone
INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL(2022)
摘要
This article studies the neural-network based backstepping control problem for autonomous marine vehicles perturbed by external disturbances. The actuator dead-zone phenomenon, which is a common non-smooth property caused by the complicated operating environment of autonomous marine vehicles, is also considered. To cope with the issue of "complexity explosion" and further decrease the tracking errors, a command filtering compensation strategy is also proposed, which guarantees satisfactory tracking performance and boundedness of the closed-loop system signals. Finally, simulation studies are given to further demonstrate the effectiveness of the proposed control method.
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关键词
autonomous marine vehicles,backstepping,command filter,neural network,unknown actuator dead-zone
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