IDEAS home Printed from https://ideas.repec.org/a/taf/tsysxx/v44y2013i12p2295-2309.html
   My bibliography  Save this article

Adaptive control and constrained control allocation for overactuated ocean surface vessels

Author

Listed:
  • Mou Chen
  • Bin Jiang

Abstract

In this article, the constrained control allocation is proposed for overactuated ocean surface vessels with parametric uncertainties and unknown external disturbances. The constrained control allocation is transformed into a convex quadratic programming problem and a recurrent neural network is employed to solve it. To complete the control allocation, the control command is derived via the backstepping method. Adaptive tracking control is proposed for the full-state feedback case using the backstepping technique and the Lyapunov synthesis. It is proved that the proposed adaptive tracking control is able to guarantee semi-global uniform ultimate boundedness of all signals in the closed-loop system. Then, the obtained control command is distributed to each actuator of overactuated ocean vessels. Finally, simulation studies are presented to illustrate the effectiveness of the proposed adaptive tracking control and the constrained control allocation scheme.

Suggested Citation

  • Mou Chen & Bin Jiang, 2013. "Adaptive control and constrained control allocation for overactuated ocean surface vessels," International Journal of Systems Science, Taylor & Francis Journals, vol. 44(12), pages 2295-2309.
    • Handle: RePEc:taf:tsysxx:v:44:y:2013:i:12:p:2295-2309
    DOI: 10.1080/00207721.2012.702239
    as

    Download full text from publisher

    File URL: http://hdl.handle.net/10.1080/00207721.2012.702239
    Download Restriction: Access to full text is restricted to subscribers.
    File URL: https://libkey.io/10.1080/00207721.2012.702239?utm_source=ideas
    LibKey link: if access is restricted and if your library uses this service, LibKey will redirect you to where you can use your library subscription to access this item
    ---><---

    As the access to this document is restricted, you may want to search for a different version of it.

    Citations

    Citations are extracted by the CitEc Project, subscribe to its RSS feed for this item.
    as


    Cited by:

    1. Zhang, Huifeng & Wei, Xinjiang & Wei, Yongli & Hu, Xin, 2021. "Anti-disturbance control for dynamic positioning system of ships with disturbances," Applied Mathematics and Computation, Elsevier, vol. 396(C).
    2. Pan Zhang & Xuzhi Lai & Yawu Wang & Min Wu, 2017. "Effective position–posture control strategy based on switching control for planar three-link underactuated mechanical system," International Journal of Systems Science, Taylor & Francis Journals, vol. 48(10), pages 2202-2211, July.
    3. Yongming Li & Shaocheng Tong, 2016. "Adaptive fuzzy switched control design for uncertain nonholonomic systems with input nonsmooth constraint," International Journal of Systems Science, Taylor & Francis Journals, vol. 47(14), pages 3436-3446, October.

    More about this item

    Statistics

    Access and download statistics

    Corrections

    All material on this site has been provided by the respective publishers and authors. You can help correct errors and omissions. When requesting a correction, please mention this item's handle: RePEc:taf:tsysxx:v:44:y:2013:i:12:p:2295-2309. See general information about how to correct material in RePEc.

    If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.

    We have no bibliographic references for this item. You can help adding them by using this form .

    If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your RePEc Author Service profile, as there may be some citations waiting for confirmation.

    For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: Chris Longhurst (email available below). General contact details of provider: http://www.tandfonline.com/TSYS20 .

    Please note that corrections may take a couple of weeks to filter through the various RePEc services.

    IDEAS is a RePEc service. RePEc uses bibliographic data supplied by the respective publishers.