Adaptive Tracking Control of Surface Vessel Using Optimized Backstepping Technique

In this paper, a tracking control approach for surface vessel is developed based on the new control technique named optimized backstepping (OB), which considers optimization as a backstepping design principle. Since surface vessel systems are modeled by second-order dynamic in strict feedback form,...

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Veröffentlicht in:	IEEE transactions on cybernetics 2019-09, Vol.49 (9), p.3420-3431
Hauptverfasser:	Wen, Guoxing, Ge, Shuzhi Sam, Chen, C. L. Philip, Tu, Fangwen, Wang, Shengnan
Format:	Artikel
Sprache:	eng
Schlagworte:	Actor-critic architecture Adaptive control Algorithms Artificial neural networks Backstepping Cables Computer simulation Control systems Design optimization Jacobian matrices Lyapunov stability Mathematical model Optimization optimized backstepping (OB) reinforcement learning (RL) Sea surface Subsystems surface vessel Tracking control Vessels
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