Tracking Control With Input Saturation and Full-State Constraints for Surface Vessels

Tracking Control With Input Saturation and Full-State Constraints for Surface Vessels

To solve the problems of full-state constraints in trajectory tracking of surface vessels, a backstepping technique combining a novel integral barrier Lyapunov function (iBLF) with neural network and sliding mode is proposed. Moreover, the control law is extended to the control problem with input sa...

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Bibliographic Details
Main Authors: Yuanhui Wang, Xiyun Jiang, Wenchao She, Fuguang Ding
Format: Article
Language:English
Published: IEEE 2019-01-01
Series:IEEE Access
Subjects:
Surface vessels
backstepping
full-state constraints
input saturation
neural network
Online Access:https://ieeexplore.ieee.org/document/8863903/

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