NDLI: Robust tracking control of ocean surface vessels using disturbance observer

Content Provider	IEEE Xplore Digital Library
Author	Zou Jie Chen Mou Feng Xing Liu Min
Copyright Year	2011
Description	Author affiliation: Key Laboratory of Optical-Electrics Control Technology, Luoyang 471009, China (Zou Jie; Feng Xing; Liu Min) \|\| College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, 210016, China (Chen Mou)
Abstract	In this paper, robust adaptive tracking control scheme is developed for ocean surface vessels with unknown time-varying external disturbances and system uncertainties. Radial basis function neural networks (RBFNNs) are adopted to approximate the system uncertainties and the disturbance observer is introduced to estimate the unknown external disturbance. Using backstepping and disturbance observer based techniques, robust tracking control is presented to track the desired system output of ocean surface vessels in the presence of unknown system uncertainties and external time-varying disturbance. Rigorous stability analysis shows that semiglobal uniform boundedness of all signals is guaranteed by appropriately choosing design parameters. Finally, simulation study is given to illustrate the effectiveness of the proposed tracking control.
Starting Page	6176
Ending Page	6180
File Size	165117
Page Count	5
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Sea surface Backstepping Neural networks Artificial neural networks Observers Disturbance observer Robustness Approximation methods Adaptive tracking control Ocean surface vessels
Content Type	Text
Resource Type	Article

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