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Applied Sciences
Volume 9
Issue 6
10.3390/app9061240
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Article

Adaptive Sliding Mode Trajectory Tracking Control for Unmanned Surface Vehicle with Modeling Uncertainties and Input Saturation

by
Bingbing Qiu
,
Guofeng Wang
*,
Yunsheng Fan
,
Dongdong Mu
and
Xiaojie Sun
Marine Electrical Engineering College, Dalian Maritime University, Dalian 116026, Liaoning, China
*
Author to whom correspondence should be addressed.
Appl. Sci. 2019, 9(6), 1240; https://doi.org/10.3390/app9061240
Received: 23 January 2019 / Revised: 11 March 2019 / Accepted: 19 March 2019 / Published: 25 March 2019
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Abstract

In the presence of modeling uncertainties and input saturation, this paper proposes a practical adaptive sliding mode control scheme for an underactuated unmanned surface vehicle (USV) using neural network, auxiliary dynamic system, sliding mode control and backstepping technique. First, the radial basis function neural network with minimum learning parameter method (MLP) is constructed to online approximate the uncertain system dynamics, which uses single parameter instead of all weights online learning, leading to a reduction in the computational burdens. Then a hyperbolic tangent function is adopted to reduce the chattering phenomenon due to the sliding mode surface. Meanwhile, the auxiliary dynamic system and the adaptive technology are employed to handle input saturation and unknown disturbances, respectively. In addition, a neural shunting model is introduced to eliminate the “explosion of complexity” problem caused by the backstepping method for virtual control derivation. The stability of the closed-loop system is guaranteed by the Lyapunov stability theory. Finally, simulations are provided to validate the effectiveness of the proposed control scheme. View Full-Text
Keywords: underactuated USV; trajectory tracking; neural network; adaptive technology; sliding mode control; input saturation underactuated USV; trajectory tracking; neural network; adaptive technology; sliding mode control; input saturation
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MDPI and ACS Style

Qiu, B.; Wang, G.; Fan, Y.; Mu, D.; Sun, X. Adaptive Sliding Mode Trajectory Tracking Control for Unmanned Surface Vehicle with Modeling Uncertainties and Input Saturation. Appl. Sci. 2019, 9, 1240. https://doi.org/10.3390/app9061240

AMA Style

Qiu B, Wang G, Fan Y, Mu D, Sun X. Adaptive Sliding Mode Trajectory Tracking Control for Unmanned Surface Vehicle with Modeling Uncertainties and Input Saturation. Applied Sciences. 2019; 9(6):1240. https://doi.org/10.3390/app9061240

Chicago/Turabian Style

Qiu, Bingbing, Guofeng Wang, Yunsheng Fan, Dongdong Mu, and Xiaojie Sun. 2019. "Adaptive Sliding Mode Trajectory Tracking Control for Unmanned Surface Vehicle with Modeling Uncertainties and Input Saturation" Applied Sciences 9, no. 6: 1240. https://doi.org/10.3390/app9061240

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