文献类型：期刊文献

英文题名：Fixed-time self-structuring neural network fault-tolerant tracking control of underactuated surface vessels with state constraints

作者：Liu, Haitao[1,2];Huang, Xiuying[1];Mai, Qingqun[1,2];Tian, Xuehong[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China

年份：2023

卷号：279

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:000984159900001)、、EI(收录号：20231713948209)、Scopus(收录号：2-s2.0-85152950127)、WOS

基金：This work was supported by the Key Project of Department of Edu- cation of Guangdong Province [grant number 2021ZDZX1041] and the Science and Technology Planning Project of Zhanjiang City [grant numbers 2021A05023 and 2021E05012] .

语种：英文

外文关键词：Underactuated surface vessels; Fixed -time fault -tolerant tracking control; Barrier lyapunov function; Self -structuring neural networks; State constraint

外文摘要：In this paper, a fixed-time fault-tolerant control strategy is proposed for trajectory tracking of underactuated surface vessels (USVs) with input saturation. A predefined region boundary function is proposed, which has all predefined fixed-time convergence properties and provides predefined specifications for tracking errors. To achieve the predetermined tracking performance, a fixed-time adaptive neural network state constrained faulttolerant controller is proposed based on dynamic surface control technology, a back-stepping program, and an asymmetric time-varying tangent barrier Lyapunov function (ATVTBLF). The unknown external environment disturbances and complex continuous unknown nonlinear terms are approximated by a self-structuring neural network (SSNN), which can improve the robustness of the control system to unknown parameters and guarantee the tracking performance of the control system. The number of neurons of the SSNN can be adjusted online according to the approximation efficiency, which can reduce the amount of calculation of the control system. Based on Lyapunov stability theory, it is proven that the closed-loop system is bounded and stable in a fixed time, and the tracking error is always kept within the constraint range. The simulation results show that the underactuated surface vessel control system has good tracking performance.