文章基本信息

标题：Adaptive Control for a Class of Partially Unknown Non-Affine Systems: Applied to Autonomous Surface Vessels
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作者：Ali Haseltalab ; Rudy R. Negenborn
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2017
卷号：50
期号：1
页码：4252-4257
DOI：10.1016/j.ifacol.2017.08.830
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a neural network-based adaptive control algorithm is proposed for a class of non-affine systems where the nonlinear influence of the system input on the states is unknown. The algorithm transforms the problem of controlling non-affine systems to control of nonlinear affine systems and then, by approximating the inverse of the input function, calculates feasible control input. Lyapunov technique, Uniform Ultimate Boundedness and Matrix Singular Values are used for stability analysis and design of the controller. In order to investigate the performance of the algorithm, it is applied to an autonomous vessel where the dynamics of the propeller is unknown.
关键词：KeywordsAdaptive ControlNeural NetworksAutonomous Vessels