This paper reports an autopilot design for a robotic unmanned surface vehicle in the control laboratory at DMU. A robust adaptive steering law is developed with the aid of a predictor, a tracking differentiator, neural networks, and a dynamic surface control technique. The developed controller is able to achieve satisfactory performance in the presence of model uncertainties, time-varying ocean disturbances, and measurement noises. Simulation results demonstrate the efficacy of the proposed method.


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    Titel :

    Autopilot design for a robotic unmanned surface vehicle


    Beteiligte:
    Peng, Zhouhua (Autor:in) / Tian, Yong (Autor:in) / Wang, Dan (Autor:in) / Liu, Lu (Autor:in)


    Erscheinungsdatum :

    01.07.2015


    Format / Umfang :

    729579 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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