Journal ArticleDOI
Identification and Learning Control of Ocean Surface Ship Using Neural Networks
Shi-Lu Dai,Cong Wang,Fei Luo +2 more
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TLDR
A novel NN learning control method which effectively utilizes the learned knowledge without re-adapting to the unknown ship dynamics is proposed to achieve closed-loop stability and improved control performance.Abstract:
This paper presents the problems of accurate identification and learning control of ocean surface ship in uncertain dynamical environments. Thanks to the universal approximation capabilities, radial basis function neural networks (NNs) are employed to approximate the unknown ocean surface ship dynamics. A stable adaptive NN tracking controller is first designed using backstepping and Lyapunov synthesis. Partial persistent excitation (PE) condition of some internal signals in the closed-loop system is satisfied during tracking control to a recurrent reference trajectory. Under the PE condition, the proposed adaptive NN controller is shown to be capable of accurate identification/learning of the uncertain ship dynamics in the stable control process. Subsequently, a novel NN learning control method which effectively utilizes the learned knowledge without re-adapting to the unknown ship dynamics is proposed to achieve closed-loop stability and improved control performance. Simulation studies are performed to demonstrate the effectiveness of the proposed method.read more
Citations
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Journal ArticleDOI
Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints
Wei He,Yuhao Chen,Zhao Yin +2 more
TL;DR: Adaptive neural network control for the robotic system with full-state constraints is designed, and the adaptive NNs are adopted to handle system uncertainties and disturbances.
Journal ArticleDOI
Unmanned surface vehicles: An overview of developments and challenges
TL;DR: An overview of both historical and recent USVs development is provided, along with some fundamental definitions, and existing USVs GNC approaches are outlined and classified according to various criteria, such as their applications, methodologies, and challenges.
Journal ArticleDOI
Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation
Wei He,Yiting Dong,Changyin Sun +2 more
TL;DR: In this article, an adaptive impedance controller for a robotic manipulator with input saturation was developed by employing neural networks. But the adaptive impedance control was not considered in the tracking control design, and the input saturation is handled by designing an auxiliary system.
Journal ArticleDOI
Adaptive Control of a Flexible Crane System With the Boundary Output Constraint
TL;DR: An integral-barrier Lyapunov function (IBLF)-based control is proposed to suppress the undesirable vibrations of the flexible crane system with the boundary output constraint.
Journal ArticleDOI
Neural Control of Bimanual Robots With Guaranteed Global Stability and Motion Precision
TL;DR: In order to extend the semiglobal stability achieved by conventional neural control to global stability, a switching mechanism is integrated into the control design and effectiveness of the proposed control design has been shown through experiments carried out on the Baxter Robot.
References
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Book
The Nature of Statistical Learning Theory
TL;DR: Setting of the learning problem consistency of learning processes bounds on the rate of convergence ofLearning processes controlling the generalization ability of learning process constructing learning algorithms what is important in learning theory?
Journal ArticleDOI
Universal approximation using radial-basis-function networks
Jooyoung Park,Irwin W. Sandberg +1 more
TL;DR: It is proved thatRBF networks having one hidden layer are capable of universal approximation, and a certain class of RBF networks with the same smoothing factor in each kernel node is broad enough for universal approximation.
Book
Methods of qualitative theory in nonlinear dynamics
TL;DR: In this paper, the behavior of dynamical systems on the stability boundary of equilibria is investigated on the route over stability boundary, at the disappearance of a saddle-node equilibrium state, and on the trajectory of periodic trajectories.