文章基本信息

标题：RBF Neural Network Control for USV with Input Saturation
本地全文：下载
作者：Hua Deng ; Renqiang Wang ; Jingdong Li 等
期刊名称：MATEC Web of Conferences
电子版ISSN：2261-236X
出版年度：2018
卷号：214
DOI：10.1051/matecconf/201821403002
语种：English
出版社：EDP Sciences
摘要：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.