Adaptive Fuzzy Optimal Control ofMultiple Autonomous Surface Vehicles with Uncertain Dynamics

被引：0
|
作者：
Yuan, Liang-En [1 ]
Xiao, Yang [2 ]
Li, Tieshan [1 ,3 ]
Zhou, Dalin [4 ]
机构：
[1] Dalian Maritime Univ, Nav Coll, Dalian 116026, Liaoning, Peoples R China
[2] Univ Alabama, Dept Comp Sci, Tuscaloosa, AL 35487 USA
[3] Univ Elect Sci & Technol China, Sch Automat Engn, Chengdu 611731, Sichuan, Peoples R China
[4] Univ Portsmouth, Sch Comp, Portsmouth PO1 3HE, Hants, England
来源：
SENSORS AND MATERIALS | 2024年 / 36卷 / 11期
关键词：
autonomous surface vehicles (ASVs); optimal control; adaptive dynamic programming (ADP); fuzzy logic system; DESIGN;
D O I：
10.18494/SAM5176
中图分类号：
TH7 [仪器、仪表];
学科分类号：
0804 ; 080401 ; 081102 ;
摘要：
In this paper, we present an adaptive optimal control algorithm for solving the tracking control problem of multiple autonomous surface vehicles under uncertain dynamics and unknown external disturbances. The proposed control algorithm uses an adaptive dynamic programming technique with optimal compensation terms. A disturbance observer is designed to handle the problem of unknown time-varying external disturbances. It is proven that all the signals in the closed-loop system are bounded. Simulation results are provided to illustrate the effectiveness of the proposed control algorithm.
引用
收藏
页码：4665 / 4681
页数：18
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