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Article Navigation >  Journal of Traffic and Transportation Engineering  > 2014  >  14(3): 120-126
LIU Yang, GUO Chen, LIU Zheng-jiang, FAN Yun-sheng. Control method of underactuated surface ship formation based on stable adaptive neural network control law[J]. Journal of Traffic and Transportation Engineering, 2014, 14(3): 120-126.
Citation: LIU Yang, GUO Chen, LIU Zheng-jiang, FAN Yun-sheng. Control method of underactuated surface ship formation based on stable adaptive neural network control law[J]. Journal of Traffic and Transportation Engineering, 2014, 14(3): 120-126.
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Control method of underactuated surface ship formation based on stable adaptive neural network control law

  • 1.

    School of Information Science and Technology, Dalian Maritime University, Dalian 116026, Liaoning, China

  • 2.

    School of Electronics and Information Engineering, Dalian Jiaotong University, Dalian 116028, Liaoning, China

More Information
  • Author Bio:

    LIU Yang (1981-), female, lecturer, PhD, +86-411-84106709, muxiaoyi123@sina.com

  • Received Date: 2014-02-15
  • Publish Date: 2014-06-25
    Abstract
  • Considering the control problems of underactuated surface ship formation with uncertain dynamics and external environment disturbances, a stable adaptive neural network control method was proposed based on leader/follower method and target tracking mechanism.A kinematics formation tracking controller was presented based on target tracking error, the dynamics equations of tracking error were derived, adaptive neural network was used to estimate the uncertainties of dynamics equations, and a stable adaptive neural network dynamics tracking controller was constructed.The Lyapunov stability theory and the series-system stability theory were used to design ship control laws and calculate ship adaptive laws so as to online adjust the weights of neural network and ensure the formation tracking error of closed loop system uniformly ultimately bounded.The formation with three ships was as an example, and the control method was tested.On circular tracking path with the radius of curvature of three times of hull length, the steering angle error is less than 15°, and the F-norm of formation trackingerror is less than 1 m. On straight tracking path, the steering angle error is less than 1°, and the F-norm of formation tracking error is less than 0.1 m.Obviously, the method is reliable.

     

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    LIU Yang. The nonlinear adaptive control for underactuated surface vessels[D]. Dlian: Dalian Maritime University, 2010. (in Chinese).
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