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Design of Robust Adaptive Course Controller for Unmanned Surface Vehicle with Input Saturation

Dongdong Mu, Guofeng Wang, Yunsheng Fan, Yongsheng Zhao
<span title="">2017</span> <i title="ICIC International"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gj6lacbygvhjhbfu4ttj3j645a" style="color: black;">International Journal of Innovative Computing, Information and Control</a> </i> &nbsp;
adaptive course controller with input saturation is proposed by means of a saturation aided design system.  ...  On the basis of considering the saturation of the actuator, a robust adaptive course controller of unmanned surface vehicle is presented by introducing an auxiliary function.  ...  The authors also gratefully acknowledge the helpful comments and suggestions of the reviewers, which have improved the presentation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.24507/ijicic.13.05.1751">doi:10.24507/ijicic.13.05.1751</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/nfqkydhzjzfg5bqs34qfyqq6fy">fatcat:nfqkydhzjzfg5bqs34qfyqq6fy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220308150726/http://www.ijicic.org/ijicic-130523.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/fb/da/fbdab3836e6322a0b096032ecc95baf221b49bdb.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.24507/ijicic.13.05.1751"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Review of Course Keeping Control System for Unmanned Surface Vehicle

M. N. Azzeri, F. A. Adnan, M. Z. Md. Zain
<span title="2015-05-27">2015</span> <i title="Penerbit UTM Press"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/xgym76lve5dw7bbeqkndyfil2u" style="color: black;">Jurnal Teknologi</a> </i> &nbsp;
However, the review reveals that the adaptive backstepping control system is a powerful tool for the design of controllers for nonlinear systems or transformable to form a tight feedback parameter.  ...  Various methods have been used to produce a course keeping control system for manoeuvring system of USV.  ...  ., [66] introduced a robust adaptive control algorithm for ship course autopilot with parameter uncertainty and input saturation that applied on USV.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.11113/jt.v74.4635">doi:10.11113/jt.v74.4635</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/drks5bp2qzbqdlub7qehfnncga">fatcat:drks5bp2qzbqdlub7qehfnncga</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180718222152/https://jurnalteknologi.utm.my/index.php/jurnalteknologi/article/download/4635/3223" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/f6/22/f6224f48a107b82541029bf9b5be52d960896878.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.11113/jt.v74.4635"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Adaptive Filtering Backstepping for Ships Steering Control without Velocity Measurements and with Input Constraints

Guoqing Xia, Huiyong Wu, Xingchao Shao
<span title="">2014</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/wpareqynwbgqdfodcyhh36aqaq" style="color: black;">Mathematical Problems in Engineering</a> </i> &nbsp;
We consider the problem of course tracking for ships with uncertainties and unknown external disturbances, in the presence of input magnitude and rate saturation.  ...  Simulation results are presented for the course tracking of a cargo ship, which are demonstrative of the excellent performance of the proposed controller.  ...  Conflict of Interests The authors declare that there is no conflict of interests regarding the publication of this paper.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2014/218585">doi:10.1155/2014/218585</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/7pqjfamz5nd4tl4crasmvh5rga">fatcat:7pqjfamz5nd4tl4crasmvh5rga</a> </span>
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Fuzzy Design for Ship Heading Control Using ACFB for e-Navigation

Yancai Hu, Gyei-Kark Park, Taeho Hong, Geonung Kim
<span title="2017-12-31">2017</span> <i title="Korean Institute of Intelligent Systems"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/y4cw36em4bb47nxm2bpumsaely" style="color: black;">International Journal of Fuzzy Logic and Intelligent Systems</a> </i> &nbsp;
In this paper, a fuzzy robust design for ship heading control using ACFB (adaptive command filtered backstepping) is proposed considering the input saturation constraints and external disturbances for  ...  This novel adaptive controller is constructed for the underactuated surface ship with rudder dynamics control system based on the Lyapunov stability theory, and this control algorithm guarantees the stability  ...  Acknowledgement This research is a part of the project titled "SMART-Navigation project," funded by the Ministry of Oceans and Fisheries.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5391/ijfis.2017.17.4.272">doi:10.5391/ijfis.2017.17.4.272</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/jmtyzpa5vrgprc5xdvkk2pxim4">fatcat:jmtyzpa5vrgprc5xdvkk2pxim4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20180721152240/http://www.ijfis.org/journal/download_pdf.php?doi=10.5391/IJFIS.2017.17.4.272" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/b0/d1/b0d1d21b47e09cb212846550f3ca6076e649b116.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.5391/ijfis.2017.17.4.272"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

Designing a ship course controller by applying the adaptive backstepping method

Anna Witkowska, Roman Śmierzchalski
<span title="2012-12-28">2012</span> <i title="Walter de Gruyter GmbH"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/gtmb6i7f4nafrasuvcrl3t5ahe" style="color: black;">International Journal of Applied Mathematics and Computer Science</a> </i> &nbsp;
The article discusses the problem of designing a proper and efficient adaptive course-keeping control system for a seagoing ship based on the adaptive backstepping method.  ...  The proposed controller in the design stage takes into account the dynamic properties of the steering gear and the full nonlinear static maneuvering characteristic.  ...  Adaptive course controller The ship course control design process aims at determining a control law u c (t) with feedback.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2478/v10006-012-0073-y">doi:10.2478/v10006-012-0073-y</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/bfbv73ajpne5bj6nzc2i5qzuee">fatcat:bfbv73ajpne5bj6nzc2i5qzuee</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190504030227/https://content.sciendo.com/downloadpdf/journals/amcs/22/4/article-p985.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/20/42/204257be42fd3093b4ce51c74761aa1b3756353c.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2478/v10006-012-0073-y"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Control of fully actuated ocean surface vessels using a class of feedforward approximators

K.P. Tee, S.S. Ge
<span title="">2006</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/w55uhp5h3rdubpws6c5kic4vxm" style="color: black;">IEEE Transactions on Control Systems Technology</a> </i> &nbsp;
Using backstepping and Lyapunov synthesis, the stable tracking controller is first designed for the fullstate feedback case.  ...  In this brief, we consider the problem of tracking a desired trajectory for fully actuated ocean vessels, in the presence of uncertainties and unknown disturbances.  ...  In [10] , robust fuzzy-based model reference adaptive control (MRAC) was used for course keeping using full-state information.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcst.2006.872507">doi:10.1109/tcst.2006.872507</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/nbs4iawscbepbjpgrga34exdaq">fatcat:nbs4iawscbepbjpgrga34exdaq</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20071213113301/http://www.nus.edu.sg/ngs/student_publications/tee_keng_peng/Control_of_Fully-Actuated_Ocean_Vessels_Using_a_Class_of_Feedforward_Approximators.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/30/51/30513d0e376264868e886af7585717ae2dbca5cd.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/tcst.2006.872507"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Adaptive Neural Backstepping Sliding Mode Heading Control for Underactuated Ships with Drift Angle and Ship-Bank Interaction

Xue Han
<span title="2020-09-27">2020</span> <i title="Hindawi Limited"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/3wwzxqpotbc73bzpemzybzg7ee" style="color: black;">Computational Intelligence and Neuroscience</a> </i> &nbsp;
In order to track the desired path under unknown parameters and environmental disturbances, an adaptive backstepping sliding mode control algorithm with a neural estimator is proposed for underactuated  ...  The results show that compared with the basic sliding mode control algorithm, the overshoot of the adaptive backstepping sliding mode control with neural estimator is smaller and the regulation time of  ...  However, how to design a robust controller for ships is still a challenging problem because of model errors, parameter changes, and external disturbances.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1155/2020/8854055">doi:10.1155/2020/8854055</a> <a target="_blank" rel="external noopener" href="https://www.ncbi.nlm.nih.gov/pubmed/33082777">pmid:33082777</a> <a target="_blank" rel="external noopener" href="https://pubmed.ncbi.nlm.nih.gov/PMC7566218/">pmcid:PMC7566218</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/pvp4dkgofre77ey2mnfg7owmb4">fatcat:pvp4dkgofre77ey2mnfg7owmb4</a> </span>
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Review of nonlinear tracking and setpoint control approaches for autonomous underactuated marine vehicles

H Ashrafiuon, K R Muske, L C McNinch
<span title="">2010</span> <i title="IEEE"> Proceedings of the 2010 American Control Conference </i> &nbsp;
The controllers are categorized into setpoint, trajectory tracking, and path following approaches with further classification into discontinuous and smooth timevarying control laws for the setpoint control  ...  Although much progress has been made in autonomous underactuated surface vessel control, there remains a need for the evolution of these approaches to achieve robust, real-time control laws that can be  ...  Do and Pan [48] also proposed a global robust and adaptive path following control law for underactuated ships based on a the same model as [47] with very similar performance.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/acc.2010.5530450">doi:10.1109/acc.2010.5530450</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/72v3df36q5agpcxcq4m4njvuqi">fatcat:72v3df36q5agpcxcq4m4njvuqi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20170808190918/http://www.dcsc.tudelft.nl/~bdeschutter/private_20100705_acc_2010/data/papers/2036.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/11/a4/11a4f8fcd2df5ffcefcdec66b20c1c48f63823ba.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/acc.2010.5530450"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> ieee.com </button> </a>

Adaptive Sliding Mode Control for Ship Autopilot with Speed Keeping

Zhiquan Liu
<span title="2018-12-01">2018</span> <i title="Walter de Gruyter GmbH"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/xexqf6dca5grnik7oyfytoukge" style="color: black;">Polish Maritime Research</a> </i> &nbsp;
The sliding mode control provides robust performance for time-varying wave disturbances and time-varying changes in ship parameters and actuator dynamics.  ...  An adaptive sliding mode course keeping control design is proposed which takes into account uncertain ship dynamics caused by forward speed variations, while avoiding performance compromises under changing  ...  [12] combined the backstepping and parameter projection methods to design a robust adaptive controller for AUV path following.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2478/pomr-2018-0128">doi:10.2478/pomr-2018-0128</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mg3fkz4aknbgddhg26hrzeshna">fatcat:mg3fkz4aknbgddhg26hrzeshna</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20190502084150/https://content.sciendo.com/downloadpdf/journals/pomr/25/4/article-p21.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/db/8d/db8db69b05eafe862cd68f23d122b4003d177f7d.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.2478/pomr-2018-0128"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

DSC-ESO Approach to Robust Sliding model Control for Ship's Curve Trajectory Tracking

Jun Ning, Hanmin Chen, Wei Li, Baisong Du
<span title="">2021</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/q7qi7j4ckfac7ehf3mjbso4hne" style="color: black;">IEEE Access</a> </i> &nbsp;
INDEX TERMS Fast terminal sliding mode, extended states observer, ship trajectory-tracking control, robustness.  ...  of complexity" caused by backstepping technique is solved.  ...  Following that, a DSC-ESO approach based on the sliding mode control is proposed for the surface ship with external environmental interference, input saturation, and parametric uncertainty in this paper  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3055637">doi:10.1109/access.2021.3055637</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/qu6krusrhbdjxcl5dxu7mogmj4">fatcat:qu6krusrhbdjxcl5dxu7mogmj4</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20210717061045/https://ieeexplore.ieee.org/ielx7/6287639/9312710/09340287.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/91/b2/91b27d91a058a2c27dea28daff15d4feb1f9db55.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.1109/access.2021.3055637"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> ieee.com </button> </a>

Backstepping Adaptive Neural Network Control for Unmanned Surface Vessel Course Tracking

Yongsheng Zhao, Cunhe Li, Guofeng Wang, Yunsheng Fan
<span title="">2017</span> <i title="ICIC International"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/ggvwll4d4nbxdk5zvkllrwev3m" style="color: black;">Innovative Computing Information and Control Express Letters, Part B: Applications</a> </i> &nbsp;
Considering the modeling errors, environment disturbances and rudder characteristics, the course-controlling of unmanned surface vessel (USV) is a nonlinear control problem with unmatched and uncertainties  ...  In order to solve the above problems, this paper presents an adaptive RBF neural network (ARBFNN) controller which is combined with the technology of backstepping and ARBFNN.  ...  The authors would like to thank the reviewers for their helpful comments and suggestions, which have helped us to improve the presentation.  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.24507/icicelb.08.02.327">doi:10.24507/icicelb.08.02.327</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/mkmijejvefasrgcrqalooxwusy">fatcat:mkmijejvefasrgcrqalooxwusy</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20220304084917/http://www.icicelb.org/ellb/contents/2017/2/elb-08-02-14.pdf" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/46/d4/46d489e9682d47ab6d066f61150375e33a7c7b13.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.24507/icicelb.08.02.327"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="external alternate icon"></i> Publisher / doi.org </button> </a>

NONLINEAR ADAPTIVE HEADING CONTROL FOR AN UNDERACTUATED SURFACE VESSEL WITH CONSTRAINED INPUT AND SIDESLIP ANGLE COMPENSATION

Xiaoyang Lu, Key Laboratory of Marine Technology and Control Engineering Ministry of Communications, Shanghai Maritime University, Shanghai 201306, China, Zhiquan Liu, Zhenzhong Chu, Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China
<span title="2020-06-01">2020</span> <i title="Faculty of Mechanical Engineering and Naval Architecture, Univ. of Zagreb"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/zocjfia5gnabfn56quwgg4yedu" style="color: black;">Brodogradnja</a> </i> &nbsp;
In this paper, a nonlinear adaptive heading controller is developed for an underactuated surface vessel with constrained input and sideslip angle compensation.  ...  The controller design is accomplished in a framework of backstepping technique.  ...  Project of Shanghai Local Colleges and Universities (19040501600).  ... 
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.21278/brod71305">doi:10.21278/brod71305</a> <a target="_blank" rel="external noopener" href="https://fatcat.wiki/release/vodtye3rxfhvjfaztoi2c2hqdi">fatcat:vodtye3rxfhvjfaztoi2c2hqdi</a> </span>
<a target="_blank" rel="noopener" href="https://web.archive.org/web/20200908232541/https://hrcak.srce.hr/file/353339" title="fulltext PDF download" data-goatcounter-click="serp-fulltext" data-goatcounter-title="serp-fulltext"> <button class="ui simple right pointing dropdown compact black labeled icon button serp-button"> <i class="icon ia-icon"></i> Web Archive [PDF] <div class="menu fulltext-thumbnail"> <img src="https://blobs.fatcat.wiki/thumbnail/pdf/9c/24/9c246a4e54cbaaee40715a8e1d4cd1bea079a7eb.180px.jpg" alt="fulltext thumbnail" loading="lazy"> </div> </button> </a> <a target="_blank" rel="external noopener noreferrer" href="https://doi.org/10.21278/brod71305"> <button class="ui left aligned compact blue labeled icon button serp-button"> <i class="unlock alternate icon" style="background-color: #fb971f;"></i> Publisher / doi.org </button> </a>

Variable Bandwidth Adaptive Course Keeping Control Strategy for Unmanned Surface Vehicle

Dongdong Mu, Guofeng Wang, Yunsheng Fan
<span title="2020-09-29">2020</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/a2yvk5xhdnhpxjnk6yd33uudqq" style="color: black;">Energies</a> </i> &nbsp;
This paper proposes a new and original course keeping control strategy for an unmanned surface vehicle in the presence of modeling error, external disturbance and input saturation.  ...  The trajectory linearization control method is used as the basic algorithm to design the course keeping strategy, and the radial basis function neural network and disturbance observer are used to compensate  ...  Design of Control Strategy In this section, the main purpose is to design an adaptive course keeping control strategy with strong robustness based on TLC technology.  ... 
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Adaptive Integral Sliding Mode Based Course Keeping Control of Unmanned Surface Vehicle

José Antonio González-Prieto, Carlos Pérez-Collazo, Yogang Singh
<span title="2022-01-06">2022</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/zxbcd6icyvawjnotp3d7oyl6sm" style="color: black;">Journal of Marine Science and Engineering</a> </i> &nbsp;
This paper investigates the course keeping control problem for an unmanned surface vehicle (USV) in the presence of unknown disturbances and system uncertainties.  ...  The main strengths of proposed approach is simplicity, robustness with respect to external disturbances and high adaptability to static and dynamics reference courses without the need of parameter reconfiguration  ...  Conclusions We present an approach to developing an adaptive integral sliding mode procedure to design a nonlinear controller for the course keeping of surface vehicles.  ... 
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AUV Trajectory Tracking Models and Control Strategies: A Review

Daoliang Li, Ling Du
<span title="2021-09-17">2021</span> <i title="MDPI AG"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/zxbcd6icyvawjnotp3d7oyl6sm" style="color: black;">Journal of Marine Science and Engineering</a> </i> &nbsp;
An AUV controller must be able to cope with various challenges with the underwater vehicle, adaptively update the reference model, and overcome unexpected deviations.  ...  The literature review shows the development of new control-oriented models, the research in the estimation of unknown inputs, and the development of more innovative control strategies for AUV trajectory  ...  Conflicts of Interest: The funders had no role in the design of the study; in the collection, analyses, or interpretation of data; in the writing of the manuscript, or in the decision to publish the results  ... 
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