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Bounded Neural Network Control for Target Tracking of Underactuated Autonomous Surface Vehicles in the Presence of Uncertain Target Dynamics
Liu,Lu1,2; Wang,Dan1,2; Peng,Zhouhua1,2; Chen,C. L.Philip3,4; Li,Tieshan4
2019-04-01
Source PublicationIEEE Transactions on Neural Networks and Learning Systems
ISSN2162-237X
Volume30Issue:4Pages:1241-1249
AbstractThis paper is concerned with the target tracking of underactuated autonomous surface vehicles with unknown dynamics and limited control torques. The velocity of the target is unknown, and only the measurements of line-of-sight range and angle are obtained. First, a kinematic control law is designed based on an extended state observer, which is utilized to estimate the uncertain target dynamics due to the unknown velocities. Next, an estimation model based on a single-hidden-layer neural network is developed to approximate the unknown follower dynamics induced by uncertain model parameters, unmodeled dynamics, and environmental disturbances. A bounded control law is designed based on the neural estimation model and a saturated function. The salient feature of the proposed controller is twofold. First, only the measured line-of-sight range and angle are used, and the velocity information of the target is not required. Second, the control torques are bounded with the bounds known as a priori. The input-to-state stability of the closed-loop system is analyzed via cascade theory. Simulations illustrate the effectiveness of the proposed bounded controller for tracking a moving target.
KeywordAutonomous surface vehicles (ASVs) bounded controller extended state observer (ESO) neural estimation model target tracking
DOI10.1109/TNNLS.2018.2868978
URLView the original
Language英語English
Scopus ID2-s2.0-85054373581
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Cited Times [WOS]:90   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorWang,Dan
Affiliation1.School of Marine Electrical Engineering,Dalian Maritime University,Dalian,116026,China
2.Collaborative Innovation Research Institute of Autonomous Ship,Dalian Maritime University,Dalian,116026,China
3.Faculty of Science and Technology,University of Macau,999078,Macao
4.Navigation College,Dalian Maritime University,Dalian,116026,China
Recommended Citation
GB/T 7714
Liu,Lu,Wang,Dan,Peng,Zhouhua,et al. Bounded Neural Network Control for Target Tracking of Underactuated Autonomous Surface Vehicles in the Presence of Uncertain Target Dynamics[J]. IEEE Transactions on Neural Networks and Learning Systems,2019,30(4):1241-1249.
APA Liu,Lu,Wang,Dan,Peng,Zhouhua,Chen,C. L.Philip,&Li,Tieshan.(2019).Bounded Neural Network Control for Target Tracking of Underactuated Autonomous Surface Vehicles in the Presence of Uncertain Target Dynamics.IEEE Transactions on Neural Networks and Learning Systems,30(4),1241-1249.
MLA Liu,Lu,et al."Bounded Neural Network Control for Target Tracking of Underactuated Autonomous Surface Vehicles in the Presence of Uncertain Target Dynamics".IEEE Transactions on Neural Networks and Learning Systems 30.4(2019):1241-1249.
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