Neural network adaptive control for cooperative path-following of marine surface vessels

Authors:
Hao Wang;Dan Wang;Zhouhua Peng;Gang Sun;Ning Wang
Affiliations:
Marine Engineering College, Dalian Maritime University, Dalian, China;Marine Engineering College, Dalian Maritime University, Dalian, China;Marine Engineering College, Dalian Maritime University, Dalian, China;Marine Engineering College, Dalian Maritime University, Dalian, China;Marine Engineering College, Dalian Maritime University, Dalian, China
Venue:
ISNN'12 Proceedings of the 9th international conference on Advances in Neural Networks - Volume Part II
Year:
2012

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Abstract

This paper addresses the cooperative path-following problem of multiple marine surface vessels with unknown dynamics. Backstepping technique, neural network (NN) adaptive approach and graph theory are brought together to design the controller, where the constraints imposed by the communication network are explicitly taken into account. The path-following controller is designed such that the unknown dynamics can be compensated for by NN. The desired coordinated behavior is achieved by means of consensus on the path parameters. Simulations are conducted on a system consisting of three vessels where the results demonstrate the method.