| Issue |
MATEC Web Conf.
Volume 214, 2018
2018 2nd International Conference on Information Processing and Control Engineering (ICIPCE 2018)
|
|
|---|---|---|
| Article Number | 03002 | |
| Number of page(s) | 5 | |
| Section | Electronic Information Technology and Control Engineering | |
| DOI | https://doi.org/10.1051/matecconf/201821403002 | |
| Published online | 15 October 2018 | |
RBF Neural Network Control for USV with Input Saturation
College of Navigation, Jiangsu Maritime Institute, Nanjing 211170, PR China
Intelligent control for USV with input saturation based on RBF network was proposed. Firstly, sliding surfaces with integral were designed on the basis of the sliding mode variable structure control technology. Secondly, RBF network was applied to approximate compensate the input saturation of system, and which was optimized by Genetic Algorithms. Finally, the control algorithm for USV was deduced by backstepping method with Lyapunov theory on the basis of sliding mode control. Relevant simulations show the control method is available for USV motion control.
© The Authors, published by EDP Sciences, 2018
This is an open access article distributed under the terms of the Creative Commons Attribution License 4.0 (http://creativecommons.org/licenses/by/4.0), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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