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Trajectory Tracking Control of Underactuated Autonomous Marine Surface Vessels with Guaranteed Prescribed Performance

机译:具有规定性能保证的欠驱动自主海洋水面舰艇的轨迹跟踪控制

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This work proposes a neural network-based adaptive robust controller of tracking for autonomous underactuated marine ships with a guaranteed prescribed response. By prescribed response, we denote that the errors of tracking evolve strictly inside a reducing function of time to satisfy some prescribed performance specifications. The stability of the proposed system is studied by the Lyapunov method. Eventually, simulations are carried out to show the advantageous of the proposed control method.
机译:这项工作提出了一种基于神经网络的自适应鲁棒控制器,用于跟踪具有保证的规定响应的自主驱动不足的海洋船舶。通过规定的响应,我们表示跟踪的误差严格在时间的减少函数内演化,以满足某些规定的性能指标。利用Lyapunov方法研究了所提出系统的稳定性。最终,进行仿真以显示所提出的控制方法的优点。

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