[1]DUAN Haiqing,ZHU Qidan.Trajectory tracking control of ships based onan adaptive backstepping neural network[J].CAAI Transactions on Intelligent Systems,2012,7(3):259-264.
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Trajectory tracking control of ships based onan adaptive backstepping neural network
CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume:
7
Number of periods:
2012 3
Page number:
259-264
Column:
学术论文—智能系统
Public date:
2012-06-25
- Title:
- Trajectory tracking control of ships based onan adaptive backstepping neural network
- Keywords:
- trajectory tracking control; backstepping; neural network; adaptive backstepping neural network
- CLC:
- TP273
- DOI:
- -
- Abstract:
- In this paper, the trajectory tracking problem for an underactuated ship at a stable speed was studied, and a control algorithm was put forward based on an adaptive neural network and backstepping. This algorithm regarded the mathematical model of an underactuated ship as a system with the model uncertainties. The uncertainties of the proposed controller were estimated by approximating the characteristics of a neural network online. Furthermore, the weight matrix of the hidden layer and output layer and the weight matrix of the input layer and hidden layer simultaneously adjusted. The stability of the proposed control strategy was accomplished by an integraltype Lyapunov function. Numerical simulation results indicate that the control strategy possesses favorable tracking characteristics and can track the desired path accurately.
- References:
-
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Last Update:
2012-09-05