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In this paper, a neurodynamics-based dynamic surface control (DSC) algorithm is proposed, which is applied in tracking control of dynamic positioning (DP) vehicles. To avoid velocity jumps in the traditional DSC, we use the smooth continuous and bounded output characteristics of neural dynamic model to construct an intermediate virtue variable. And an appropriate Lyapunov function is introduced to...
This paper considers the path following problem of underactuated marine surface vessel in the presence of model uncertainty and external disturbances. A robust control strategy is proposed by employing the dynamic surface control and extended state observer. The key features of the presented control strategy include that, first, the extended state observer is proposed to estimate the model uncertainty...
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