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The containment maneuvering problem involves two tasks. The first, called the geometric formation task, is to force the vessel outputs to converge to convex hull spanned by multiple parameterized paths. The second task, called the dynamic task, is to satisfy a desired dynamic behavior along the paths. A modular design approach is presented to develop the adaptive containment maneuvering controllers...
This paper reports an autopilot design for a robotic unmanned surface vehicle in the control laboratory at DMU. A robust adaptive steering law is developed with the aid of a predictor, a tracking differentiator, neural networks, and a dynamic surface control technique. The developed controller is able to achieve satisfactory performance in the presence of model uncertainties, time-varying ocean disturbances,...
This paper addresses the problem of path following for underactuated MSVs with dynamical uncertainty and time-varying ocean disturbances. The path is made up of straight-line segments connected by n waypoints. A robust adaptive path following strategy is proposed based on a LOS guidance scheme and a novel velocity controller. Specifically, the velocity controller employs an NN to identify the dynamical...
This paper considers the distributed coordinated control problem of multiple autonomous underwater vehicles with a time-varying reference trajectory. Each vehicle is subject to model uncertainty and time-varying ocean disturbances. A new predictor-based neural dynamic surface control design approach is proposed to develop distributed adaptive node controllers, under which synchronization between vehicles...
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