@inproceedings{79ddad8a6a6d4023b9a097e2cf4eb2d5,
title = "Output-Constrained Point- to- Point Tracking of Underactuated Surface Vessel with Uncertainties",
abstract = "This paper considers the point-to-point tracking control problem of an underactuated surface vessel (USV) with output constraints and uncertainties. The controller design is based on backstepping algorithm. Barrier Lyapunov function (BLF) is used to address the output constraints. In addition, a radial basis function neural network (RBFNN) is constructed to provide an estimation and compensation of the unknown disturbances. It is proved that under the proposed control, the constraints will never be violated, and all closed-loop signals are bounded. Simulation results and comparisons illustrate the effectiveness and advantages of the proposed controller.",
keywords = "Barrier Lyapunov function, Output constraints, Point-to-point, Trajectory tracking, Underactuated Surface Vessel",
author = "Linping Ruan and Zewei Zheng",
note = "Publisher Copyright: {\textcopyright} 2018 Technical Committee on Control Theory, Chinese Association of Automation.; 37th Chinese Control Conference, CCC 2018 ; Conference date: 25-07-2018 Through 27-07-2018",
year = "2018",
month = oct,
day = "5",
doi = "10.23919/ChiCC.2018.8483059",
language = "英语",
series = "Chinese Control Conference, CCC",
publisher = "IEEE Computer Society",
pages = "519--524",
editor = "Xin Chen and Qianchuan Zhao",
booktitle = "Proceedings of the 37th Chinese Control Conference, CCC 2018",
address = "美国",
}