Event-Triggered Finite-Time Tracking Control of Unmanned Surface Vessel Using Neural Network Prescribed Performance

Yuan Liu; Li Zhao; Wenfang Sun; Qing Wang; Guoxing Li; Haiyang Guo; Xinxiang Zhang; Jiaming Zhang; Zhiqing Bai

doi:10.1109/ACCESS.2023.3347566

IEEE Access (Jan 2024)

Event-Triggered Finite-Time Tracking Control of Unmanned Surface Vessel Using Neural Network Prescribed Performance

Yuan Liu,
Li Zhao,
Wenfang Sun,
Qing Wang,
Guoxing Li,
Haiyang Guo,
Xinxiang Zhang,
Jiaming Zhang,
Zhiqing Bai

Affiliations

Yuan Liu: ORCiD; School of Electronic Information and Intelligent Manufacturing, Anhui Xinhua University, Anhui, China
Li Zhao: School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
Wenfang Sun: School of Electronic Information and Intelligent Manufacturing, Anhui Xinhua University, Anhui, China
Qing Wang: School of Electronic Information and Intelligent Manufacturing, Anhui Xinhua University, Anhui, China
Guoxing Li: School of Electronic Information and Intelligent Manufacturing, Anhui Xinhua University, Anhui, China
Haiyang Guo: School of Electronic Information and Intelligent Manufacturing, Anhui Xinhua University, Anhui, China
Xinxiang Zhang: School of Electronic Information and Intelligent Manufacturing, Anhui Xinhua University, Anhui, China
Jiaming Zhang: School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China
Zhiqing Bai: School of Electronic Information and Intelligent Manufacturing, Anhui Xinhua University, Anhui, China

DOI: https://doi.org/10.1109/ACCESS.2023.3347566
Journal volume & issue: Vol. 12
pp. 11481 – 11491

Abstract

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The current paper verifies the event-triggered finite-time tracking control of a fully actuated unmanned surface vessel under unmodeled dynamics and external disturbances. Radial basis function neural networks (RBFNNs), nonlinear disturbance observers (NDO), and the event-triggered mechanism (ETM) are utilized to design a new type of finite time tracking controller (FFTC). The proposed controller utilizes the dynamic surface control (DSC) approach to resolve the “differential explosion” issue of virtual control laws. Prescribed performance functions (PPFs) and the finite-time control (FFC) technique are utilized to specify the efficiency of tracking errors. The designed control laws make the control system of USV semi-globally practically finite-time stable (SGPFS) and make the tracking errors tend to a narrow residual set involving the specified bound in a finite time. In the end, the simulations reflect the presented FFTC’s efficiency.

Published in IEEE Access

ISSN: 2169-3536 (Online)
Publisher: IEEE
Country of publisher: United States
LCC subjects: Technology: Electrical engineering. Electronics. Nuclear engineering
Website: https://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6287639

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