NDLI: Path following of underactuated surface vessels based on neural sliding mode

Content Provider	IEEE Xplore Digital Library
Author	Yang Zhen Wang Yan Liu Fanming Liu Zhilin
Copyright Year	2014
Description	Author affiliation: No.703 Res. Inst., CSIC, Harbin, China (Wang Yan) \|\| Coll. of Autom., Harbin Eng. Univ., Harbin, China (Yang Zhen; Liu Fanming; Liu Zhilin)
Abstract	In order to realize path following control for underactuated surface vessels under parameter perturbation and external disturbances, a neural sliding mode controller is presented based on visible distance. The desired position and the current position are used to determine the reference surge velocity and yawing angle by using visible distance, which are employed as the virtual control laws in stabilizing the position errors. Then, a new nonlinear feedback robust controller is designed based on neural network and sliding modes to realize the tracking control of the virtual control laws without determining upper bound of parameter perturbation and external disturbances. The problem of saturation and chattering of the controller are circumvented. The results of simulation experiments indicate that the controller is robust against parameter perturbation and external disturbances. Moreover, the path following control with can be achieved by the proposed control method.
Starting Page	7858
Ending Page	7863
File Size	560678
Page Count	6
File Format	PDF
ISBN	9789881563873
ISSN	19341768
DOI	10.1109/ChiCC.2014.6896312
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-07-28
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	TCCT, CAA
Subject Keyword	Automation Underactuated surface vessel Neural networks Sliding mode Abstracts Visible distance Path following Educational institutions Robustness Electronic mail Neural network Surges
Content Type	Text
Resource Type	Article

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