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

摘要

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.