Output Feedback Adaptive Optimal Control of Multiple Unmanned Marine Vehicles with Unknown External Disturbance
This paper presents an optimal output-feedback tracking control problem for multiple unmanned marine vehicles (UMVs) to track a desired trajectory. To guarantee the control objective in an optimal manner, adaptive dynamic programming (ADP) with optimal compensation terms is adopted. A neural velocit...
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-09-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/12/10/1697 |
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| author | Liang-En Yuan Yang Xiao Tieshan Li Dalin Zhou |
| author_facet | Liang-En Yuan Yang Xiao Tieshan Li Dalin Zhou |
| author_sort | Liang-En Yuan |
| collection | DOAJ |
| description | This paper presents an optimal output-feedback tracking control problem for multiple unmanned marine vehicles (UMVs) to track a desired trajectory. To guarantee the control objective in an optimal manner, adaptive dynamic programming (ADP) with optimal compensation terms is adopted. A neural velocity observer is designed based on a neural network (NN) to estimate the unmeasured system states and the unknown system dynamics. Furthermore, a disturbance observer (DO) is proposed to go against the effect of the unknown external disturbance of the sea environment. It is proved that the proposed controller can guarantee that all signals in the closed-loop system are bounded. Simulation results are given to demonstrate the effectiveness of the proposed control algorithm. |
| format | Article |
| id | doaj-art-034ea3d26073466a8bc42b54acc3736c |
| institution | OA Journals |
| issn | 2077-1312 |
| language | English |
| publishDate | 2024-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj-art-034ea3d26073466a8bc42b54acc3736c2025-08-20T02:11:11ZengMDPI AGJournal of Marine Science and Engineering2077-13122024-09-011210169710.3390/jmse12101697Output Feedback Adaptive Optimal Control of Multiple Unmanned Marine Vehicles with Unknown External DisturbanceLiang-En Yuan0Yang Xiao1Tieshan Li2Dalin Zhou3Navigation College, Dalian Maritime University, Dalian 116026, ChinaDepartment of Computer Science, The University of Alabama, Tuscaloosa, AL 35487-0290, USANavigation College, Dalian Maritime University, Dalian 116026, ChinaSchool of Computing, University of Portsmouth, Portsmouth PO1 3HE, UKThis paper presents an optimal output-feedback tracking control problem for multiple unmanned marine vehicles (UMVs) to track a desired trajectory. To guarantee the control objective in an optimal manner, adaptive dynamic programming (ADP) with optimal compensation terms is adopted. A neural velocity observer is designed based on a neural network (NN) to estimate the unmeasured system states and the unknown system dynamics. Furthermore, a disturbance observer (DO) is proposed to go against the effect of the unknown external disturbance of the sea environment. It is proved that the proposed controller can guarantee that all signals in the closed-loop system are bounded. Simulation results are given to demonstrate the effectiveness of the proposed control algorithm.https://www.mdpi.com/2077-1312/12/10/1697unmanned marine vehicles (UMVs)adaptive dynamic programming (ADP)optimal tracking controlneural state observer (NSO) |
| spellingShingle | Liang-En Yuan Yang Xiao Tieshan Li Dalin Zhou Output Feedback Adaptive Optimal Control of Multiple Unmanned Marine Vehicles with Unknown External Disturbance Journal of Marine Science and Engineering unmanned marine vehicles (UMVs) adaptive dynamic programming (ADP) optimal tracking control neural state observer (NSO) |
| title | Output Feedback Adaptive Optimal Control of Multiple Unmanned Marine Vehicles with Unknown External Disturbance |
| title_full | Output Feedback Adaptive Optimal Control of Multiple Unmanned Marine Vehicles with Unknown External Disturbance |
| title_fullStr | Output Feedback Adaptive Optimal Control of Multiple Unmanned Marine Vehicles with Unknown External Disturbance |
| title_full_unstemmed | Output Feedback Adaptive Optimal Control of Multiple Unmanned Marine Vehicles with Unknown External Disturbance |
| title_short | Output Feedback Adaptive Optimal Control of Multiple Unmanned Marine Vehicles with Unknown External Disturbance |
| title_sort | output feedback adaptive optimal control of multiple unmanned marine vehicles with unknown external disturbance |
| topic | unmanned marine vehicles (UMVs) adaptive dynamic programming (ADP) optimal tracking control neural state observer (NSO) |
| url | https://www.mdpi.com/2077-1312/12/10/1697 |
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