Adaptive Backstepping Sliding Mode Tracking Control for Underactuated Unmanned Surface Vehicle With Disturbances and Input Saturation

نویسندگان

چکیده

This paper presents an adaptive backstepping sliding mode tracking control method for underactuated unmanned surface vehicle. The controller is designed by combining and technology. virtual law used to replace the strategy of position error, transformed into velocity control, which can effectively avoid input saturation singular value problem existing in design traditional law. neural shunt model solve differential explosion caused technology based on theory introduced compensate uncertainty time-varying disturbances system, robustness USV enhanced this unknown environment. Based Lyapunov stability theory, it proved that system error ultimately uniformly bounded. simulation results show proposed achieve stable case parameter disturbances, so be concluded reasonable effective.

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ژورنال

عنوان ژورنال: IEEE Access

سال: 2021

ISSN: ['2169-3536']

DOI: https://doi.org/10.1109/access.2020.3046130