Adaptive Neural Output Feedback Tracking Control of Underactuated Ships Against Uncertainties in Kinematics and System Matrices
IEEE Journal of Oceanic Engineering(2021)
摘要
Adaptive neural output feedback tracking control is developed for underactuated ships with uncertainties in kinematics (i.e., kinematic uncertainties) and uncertain off-diagonal terms in the matrices of their system dynamics (i.e., dynamic uncertainties), where radial basis function networks are incorporated. As the kinematic uncertainties unavoidably exist in the off-diagonal terms of system matr...
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关键词
Uncertainty,Kinematics,Marine vehicles,Observers,Output feedback,Nonlinear dynamical systems,Symmetric matrices
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