Adaptive neural control for marine autonomous surface ships in cross-water scenarios by Xiang YE, Chao CHEN, Jian Xiong JIA, Hang CHEN

“…A novel specified performance function is constructed and combined with the barrier Lyapunov function (BLF) to transform the cross-water design, while the dynamic surface control technique is employed to reduce the system's computational complexity. Stability analysis is then performed by means of Lyapunov theory to demonstrate that all signals within the control system are bounded.ResultsThe simulation results show that the designed control scheme is not only capable of solving the cross-water tracking control of MASS, but that the tracking error can satisfy the convergence to a given bounded range within a predefined time offline. …”
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