多自主船协同路径跟踪的自适应动态面控制-控制理论与应用.PDF

30 5 Vol. 30 No. 5 2013 5 Control Theory Applications May 2013 DOI: 10.7641/CTA.2013.20821 , , , (, 116026) : , . (SHL), . , . Lyapunov, . . : ; ; ; ; : TP273 : A Adaptive dynamic surface control for cooperative path following of multiple autonomous surface vessels WANG Hao, WANG Dan , PENG Zhou-hua, SUN Gang (Marine Engineering College, Dalian Maritime University, Dalian Liaoning 116026, China) Abstract: This paper addresses the cooperative path following problem of multiple autonomous surface vessels with model uncertainty and unknown disturbances induced by wind, waves and ocean currents. A cooperative path following algorithm is proposed based on the neural network adaptive dynamic surface control technique. The single hidden layer (SHL) neural network is employed to approximate the model uncertainty and ocean disturbances; the dynamic surface control technique is introduced to dramatically lower the complexity of this algorithm; and the decentralized cooperative control law is adopted to reduce the amount of communications. The Lyapunov stability analysis shows that all closed- loop signals are uniformly ultimately bounded, and a small tracking error is achieved by appropriately choosing design parameters. Comparative studies demonstrate the effectiveness of the proposed method. Key words: autonomous surface vessels; cooperative path following; dynamic surface control; neural networks; uncer- tainties 1 (Introduction) , ; [7] [1] ,