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Adaptive NN event-triggered control for path following of underactuated vessels with finite-time convergence
Li, Meilin1; Li, Tieshan1; Gao, Xiaoyang1; Shan, Qihe1; Chen, C. L.Philip1,2; Xiao, Yang3
2020-02-28
Source PublicationNeurocomputing
ISSN0925-2312
Volume379Pages:203-213
Abstract

This paper investigates the problem of path following of underactuated marine surface vessels (MSVs) with uncertain nonlinear dynamics. First, the tracking target of the vessel is reduced from tracking the earth-fixed position to tracking the line-of-sight (LOS) angle by LOS method. Then, by employing the radial basis function neural network (RBFNN) to deal with the uncertain nonlinear dynamics, an adaptive NN fast power reaching law is developed for the path following problem based on the backstepping design methodology. Thereafter, the event-triggered technique is incorporated into the control design to synthesize an adaptive NN event-triggered controller with the fast power reaching convergence rate. By combining with the presented event-triggered mechanism, the controller is only updated when the triggering condition is satisfied. Therefore, both the update frequency of the controller and actuator loss are greatly reduced comparing with the traditional time-triggered controller. Theoretical analysis via Lyapunov method indicates that the tracking error can converge to zero within a finite time, meanwhile it also shows that Zeno behavior can be avoided. Simulation results with comparations illustrate the validity and superiority of the proposed controller.

KeywordEvent-triggered Control Finite-time Convergence Line-of-sight Path Following Radial Basis Function Neural Network Underactuated Marine Surface Vessel
DOI10.1016/j.neucom.2019.10.044
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence
WOS IDWOS:000507464700018
Scopus ID2-s2.0-85075534212
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Citation statistics
Cited Times [WOS]:37   [WOS Record]     [Related Records in WOS]
Document TypeJournal article
CollectionUniversity of Macau
Corresponding AuthorLi, Tieshan
Affiliation1.Navigation College, Dalian Maritime University, Dalian, 116026, China
2.Department of Computer and Information Science, Faculty of Science and Technology, University of Macau, Macau, 99999, China
3.Department of Computer Science, The University of Alabama, Tusaloosa, 35487-0290, United States
Recommended Citation
GB/T 7714
Li, Meilin,Li, Tieshan,Gao, Xiaoyang,et al. Adaptive NN event-triggered control for path following of underactuated vessels with finite-time convergence[J]. Neurocomputing,2020,379:203-213.
APA Li, Meilin,Li, Tieshan,Gao, Xiaoyang,Shan, Qihe,Chen, C. L.Philip,&Xiao, Yang.(2020).Adaptive NN event-triggered control for path following of underactuated vessels with finite-time convergence.Neurocomputing,379,203-213.
MLA Li, Meilin,et al."Adaptive NN event-triggered control for path following of underactuated vessels with finite-time convergence".Neurocomputing 379(2020):203-213.
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