文献类型：期刊文献

英文题名：Robust trajectory tracking control of a marine surface vessel using asymmetric error constraints and output feedback

作者：Chen, Guangjun[1];Tian, Xuehong[1];Liu, Haitao[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech & Power Engn, Zhanjiang 524088, Peoples R China;[2]Southern Marine Sci & Engn Guangdong Lab Zhanjian, Zhanjiang, Peoples R China

年份：2020

卷号：30

期号：18

起止页码：8545

外文期刊名：INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL

收录：SCI-EXPANDED(收录号：WOS:000575120400001)、、EI(收录号：20204109324317)、Scopus(收录号：2-s2.0-85092082465)、WOS

基金：2019 "Chong First-class" Provincial Financial Special Funds Construction Project, Grant/Award Number: 231419019; Fostering Plan for Major Scientific Research Projects of Education Department of Guangdong Province-Characteristic Innovation Projects, Grant/Award Number: 2017KTSCX087; Fund of Southern Marine Science and Engineering Guangdong Laboratory (Zhanjiang), Grant/Award Number: ZJW-2019-01; Natural Science Foundation of Guangdong Province, Grant/Award Number: 2018A0303130076; Science and Technology Planning Project of Zhanjiang City, Grant/Award Numbers: 2018A01019, 2020B01267

语种：英文

外文关键词：adaptive neural network; asymmetric error constraints; marine surface vessel; output feedback

外文摘要：This article investigates the problem of robust trajectory tracking for a marine surface vessel in the presence of asymmetrical error time-varying constraints and output feedback. To deal with system uncertainties, adaptive neural networks (NNs) are used to approximate unknown dynamics model parameters and external disturbances. To obtain unmeasured velocities, a predictive observer based on output feedback is developed to estimate unknown velocities. A tan-type asymmetric barrier Lyapunov function is used to deal with asymmetric error time-varying constraints. The high-frequency robust adaptive law is used to compensate for parameter estimation errors. The kinematic controller is designed based on the barrier Lyapunov function method, and the kinetics controller is designed base on an observer, an adaptive NN and a robust high-frequency control. All signals of the closed-loop systems are proved to be semiglobally uniformly and ultimately bounded via Lyapunov analysis, and the asymmetrical error constraints are not violated. Simulations are performed, and synthetic comparison is used to verify the feasibility and robustness of the proposed control law.