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This paper address the problem of trajectory tracking control of an USV based on nonlinear adaptive observer using dynamic recurrent fuzzy neural network (DRFNN). In order to control an underactuated surface vehicle (USV) efficiently, knowledge about the position, velocity and attitude of the USV is needed. For low-cost USV, the sensor suit can only provide measurements of position and yaw. The proposed...
In this paper, we propose an online identification algorithm of ships for the dynamic positioning system. The ship model is first changed into Hammerstein form, then subspace identification method is used, with its simplicity and robustness, to perform the identification procedure. In order to make the identification algorithm more practical for online application, an effective updating strategy is...
In many applications, it is of primary importance to drive an object along an expected path. For different controlled plant, the applied path following methods are different. Chasing-point is a common low-speed ship path following operation, especially when the path is not straight. Many conventional and adaptive control methods and schemes are presented for the ship path following control system,...
In this paper, a networked ship course control system is considered, and the network-induced delay is the main problem in the networked control system (NCS). A network-based fuzzy adaptive nonlinear sliding model controller is proposed. The sliding surface is constructed with the time delay compensation. The unknown parts in the model, consisting of the external disturbances and the unmodeled dynamics,...
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