Adaptive NN state error PCH trajectory tracking control for unmanned surface vessel with uncertainties and input saturation

Authors

Chengxing Lv, Jian Chen, Haisheng Yu, Jieru Chi, Zhibo Yang

Abstract

A novel robust state error port controlled Hamiltonian (PCH) trajectory tracking controller of an unmanned surface vessel (USV) subject to time‐varying disturbances, dynamic uncertainties and control input saturation is presented. The proposed control scheme combines the advantages of the high robustness and energy minimization of the state error PCH approach and the approximation capability of adaptive radial basis function neural networks (RBFNNs). Adaptive RBFNNs are used to the time‐varying disturbances of the environment and unknown dynamics uncertainties of the USV model. The state error PCH control approach is designed such that the system can optimize energy consumption, and the state error PCH technique makes the designed trajectory tracking controller be easy to implement in practice. To handle the effect of the control input saturation, a Gaussian error function model is employed. It has been demonstrated that the proposed approach can maintain the USV’s trajectory at the desired trajectory, while the closed‐loop control system can guarantee the uniformly ultimate boundedness. The energy consumption model of the USV is constructed to reveal to the energy consumption. Simulation results demonstrate the effectiveness of the proposed controller.

Citation

• Journal: Asian Journal of Control
• Year: 2023
• Volume: 25
• Issue: 5
• Pages: 3903–3919
• Publisher: Wiley
• DOI: 10.1002/asjc.3076

BibTeX

@article{Lv_2023,
  title={{Adaptive NN state error PCH trajectory tracking control for unmanned surface vessel with uncertainties and input saturation}},
  volume={25},
  ISSN={1934-6093},
  DOI={10.1002/asjc.3076},
  number={5},
  journal={Asian Journal of Control},
  publisher={Wiley},
  author={Lv, Chengxing and Chen, Jian and Yu, Haisheng and Chi, Jieru and Yang, Zhibo},
  year={2023},
  pages={3903--3919}
}

Download the bib file

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