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International Conference on Intelligent Robotics and Applications

ICIRA 2015: Intelligent Robotics and Applications pp 111–125Cite as

Approximation-Based Control of a Marine Surface Vessel with Full-State Constraints

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9244))

Abstract

In this paper, a trajectory tracking control law is proposed for a class of marine surface vessels in the presence of constraints and uncertainties. A barrier Lyapunov function (BLF) is employed to prevent states from violating the constraints. Neural networks are used to approximate the system uncertainties in our design, and the control law is designed by using the Moore-penrose inverse. Under the proposed control, the multiple state constraints are never violated, the signals of the closed loop system are semiglobally uniformly bounded (SGUB), and the asymptotic tracking is achieved. Finally, the performance of the proposed control is illustrated via the simulations.

This work was supported by the National Natural Science Foundation of China under Grants 61203057, 61473120, the National Basic Research Program of China (973 Program) under Grant 2014CB744206, the Fundamental Research Funds for the Central Universities under Grant 2015ZM065, and the NSFC-RS joint research project under grants 51311130137 in China and IE121414 in the UK.

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Author information

Authors and Affiliations

  1. School of Automation Engineering and Center for Robotics, University of Electronic Science and Technology of China, Chengdu, 611731, China

    Zhao Yin, Wei He & Weiliang Ge

  2. College of Automation Science and Engineering, South China University of Technology, Guangzhou, 510640, China

    Chenguang Yang

  3. Centre for Robotics and Neural Systems, Plymouth University, Plymouth, PL4 8AA, UK

    Chenguang Yang & Sanjay Sharma

  4. School of Marine Science and Engineering, Plymouth University, Plymouth, PL4 8AA, UK

    Sanjay Sharma

Authors
  1. Zhao Yin
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  2. Wei He
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  3. Weiliang Ge
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  4. Chenguang Yang
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  5. Sanjay Sharma
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Corresponding author

Correspondence to Wei He .

Editor information

Editors and Affiliations

  1. University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  2. Tokyo Metropolitan University, Tokyo, Japan

    Naoyuki Kubota

  3. Shanghai Jiao Tong University, Shanghai, China

    Xiangyang Zhu

  4. Karlsruhe Institute of Technology, Karlsruhe, Germany

    Rüdiger Dillmann

  5. University of Portsmouth, Portsmouth, United Kingdom

    Dalin Zhou

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© 2015 Springer International Publishing Switzerland

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Yin, Z., He, W., Ge, W., Yang, C., Sharma, S. (2015). Approximation-Based Control of a Marine Surface Vessel with Full-State Constraints. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9244. Springer, Cham. https://doi.org/10.1007/978-3-319-22879-2_11

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  • DOI: https://doi.org/10.1007/978-3-319-22879-2_11

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-22878-5

  • Online ISBN: 978-3-319-22879-2

  • eBook Packages: Computer ScienceComputer Science (R0)

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