MATEC Web Conf.
Volume 139, 20172017 3rd International Conference on Mechanical, Electronic and Information Technology Engineering (ICMITE 2017)
|Number of page(s)||5|
|Published online||05 December 2017|
RBF network based integral backstepping sliding mode control for USV
Navigation College, Jiangsu Maritime Institute, Nanjing 211170, PR China
a Corresponding author: email@example.com
A kind of USV course RBF network control algorithm is putted forward, which is on the basis of integral backstepping sliding mode. First of all, an integrator sliding surface were designed with the sliding mode variable structure control technology. Secondly, radial basis function neural network was applied to approximate the system nonlinear function and uncertain parameters. Furthermore, a nonlinear damping law was introduced to overcome the bounded outside interference. Finally, on the basis of the above, the system control law was deduced by using the backstepping method. The simulation results show that the neural network can accurately approximate the nonlinear function and uncertain parameters, and the controller output is smooth and the output is not sensitive to perturbation of parameters. Therefore, the proposed algorithm is effective for USV course control.
© The Authors, published by EDP Sciences, 2017
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (http://creativecommons.org/licenses/by/4.0/).
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