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- W4229446510 endingPage "110966" @default.
- W4229446510 startingPage "110966" @default.
- W4229446510 abstract "To promote the vigorous development of the marine technology, more and more scientific research institutes have begun to develop unmanned surface vehicles (USVs) with advanced control performance. This paper addresses trajectory tracking problem for state-constrained USV under the influence of actuator saturation and general disturbance uncertainties. An anti-windup system with auxiliary variables is employed to cope with actuator saturation. Besides, full-state constrains are not violated by combining the tan-type barrier Lyapunov function and backstepping method. Moreover, RBFNN is adopted to approximate some unknown uncertain function terms. By utilizing adaptive estimation technique, the unknown upper boundaries of disturbance uncertainties, input saturation difference, as well as RBFNN approximation error are compensated. The semi-global asymptotic convergence is guaranteed by rigorous theoretical analysis and Lyapunov proof. Finally, simulations results are given to verify the feasibility of the proposed algorithm." @default.
- W4229446510 created "2022-05-11" @default.
- W4229446510 creator A5067750782 @default.
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- W4229446510 date "2022-06-01" @default.
- W4229446510 modified "2023-10-14" @default.
- W4229446510 title "Adaptive state-constrained trajectory tracking control of unmanned surface vessel with actuator saturation based on RBFNN and tan-type barrier Lyapunov function" @default.
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- W4229446510 doi "https://doi.org/10.1016/j.oceaneng.2022.110966" @default.
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