Open AccessDisturbance Observer-Based Path Following Control of Unmanned Surface Vessel with Control Input Saturation and Unknown Disturbance
Author(s) -
Yangliu Xie,
Fuyu Luo,
Jiangfeng Zeng,
Xu Liang,
Xiaoye Guo
Publication year - 2020
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/440/2/022062
Subject(s) - control theory (sociology) , disturbance (geology) , backstepping , unmanned surface vehicle , nonlinear system , computer science , saturation (graph theory) , artificial neural network , observer (physics) , adaptive control , control (management) , mathematics , engineering , artificial intelligence , physics , geology , paleontology , quantum mechanics , combinatorics , marine engineering
This study proposes a nonlinear disturbance observer-based path following control scheme for unmanned surface vessel (USV) in the presence of input saturation and unknown external disturbance. The dynamic surface control (DSC) framework is augmented by a robust adaptive radial basis function neural network (RBFNN) and a nonlinear disturbance observer (NDO). The control strategy can avoid the differential explosion problem inherent from traditional backstepping approach. The boundary value of the estimated disturbances that are presented in a number of existing disturbance observers is relaxed.