Neural network-based fault-tolerant control of underactuated surface vessels (Q1666892): Difference between revisions
From MaRDI portal
Set OpenAlex properties. |
ReferenceBot (talk | contribs) Changed an Item |
||
Property / cites work | |||
Property / cites work: Some remarks on a conjecture in parameter adaptive control / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: Global tracking control of underactuated ships with nonzero off-diagonal terms in their system matrices / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: Robust adaptive tracking for time-varying uncertain nonlinear systems with unknown control coefficients / rank | |||
Normal rank | |||
Property / cites work | |||
Property / cites work: Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory / rank | |||
Normal rank |
Latest revision as of 12:05, 16 July 2024
scientific article
Language | Label | Description | Also known as |
---|---|---|---|
English | Neural network-based fault-tolerant control of underactuated surface vessels |
scientific article |
Statements
Neural network-based fault-tolerant control of underactuated surface vessels (English)
0 references
27 August 2018
0 references
Summary: This paper addresses the problem of trajectory tracking of underactuated surface vessels (USVs) in the presence of thruster failure. Multilayer neural networks (MNNs) are employed to estimate the unknown model parameters and external disturbances. To design a fault-tolerant controller without a fault detection scheme, we use the Nussbaum gain technique. We introduce an additional control to resolve the difficulty arising from having fewer inputs than degrees-of-freedom. Further, an approach angle is proposed to track both a straight and curved path. Stability analysis and simulations are performed to demonstrate the effectiveness of the proposed scheme.
0 references
0 references
0 references