Nonlinear and Adaptive Control Design
Nonlinear and Adaptive Control Design
Stable Adaptive Neural Network Control
Stable Adaptive Neural Network Control
Passivity-based designs for synchronized path-following
Automatica (Journal of IFAC)
Observer-based fuzzy adaptive control for strict-feedback nonlinear systems
Fuzzy Sets and Systems
Neural network control of mobile robot formations using RISE feedback
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A combined backstepping and small-gain approach to robust adaptive fuzzy output feedback control
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Fuzzy Systems
A DSC approach to robust adaptive NN tracking control for strict-feedback nonlinear systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics - Special issue on game theory
Information Sciences: an International Journal
Automatica (Journal of IFAC)
Automatica (Journal of IFAC)
Adaptive maneuvering, with experiments, for a model ship in a marine control laboratory
Automatica (Journal of IFAC)
Discontinuities and hysteresis in quantized average consensus
Automatica (Journal of IFAC)
IEEE Transactions on Neural Networks
IEEE Transactions on Neural Networks
IEEE Transactions on Fuzzy Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Neural Computing and Applications - Special Issue on LSMS2010 and ICSEE 2010
Neural network adaptive control for cooperative path-following of marine surface vessels
ISNN'12 Proceedings of the 9th international conference on Advances in Neural Networks - Volume Part II
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This paper addresses the problem of steering a group of marine surface vehicles along given spatial paths, while holding a desired formation pattern subject to dynamical uncertainty and ocean disturbances induced by unknown wind, waves and ocean currents. The control design is categorized into two envelopes. One is to steer individual marine surface vehicle to track a given spatial path. The other is to synchronize the speed of each vehicle along its path and path variables under the constraints of an underlying communication network in order to holding a desired formation pattern. The key features of the developed controllers are that, first, the neural network adaptive technique allows one to handle the dynamical uncertainty and ocean disturbances, without the need for explicit knowledge of the model; second, the proposed dynamic surface control technique simplifies the controller design by introducing the first-order filters and avoids the calculation of derivatives of virtual control signals. Further, this result is extended to the output feedback case, where a high-gain observer based cooperative path following controller is developed without measuring the velocity of each vehicle. Under the proposed controllers, all signals in the closed-loop system are guaranteed to be uniformly ultimately bounded for both state and output feedback cases. Simulation results validate the performance and robustness improvement of the proposed strategy.