A biologically inspired approach to tracking control of underactuated surface vessels subject to unknown dynamics

• Published in: Expert systems with applications Vol. 42; no. 4; pp. 2153 - 2161
• Main Authors: Pan, Chang-Zhong, Lai, Xu-Zhi, Yang, Simon X., Wu, Min
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.03.2015
• Subjects: Algorithms; Bio-inspired neural dynamics; Computational efficiency; Computer simulation; Derivatives; Dynamics; Mathematical models; Neural network; Neural networks; Robotics; Surface vessel; Tracking control; Vessels; Neural network; Bio-inspired neural dynamics; Tracking control; Surface vessel; Robotics

•The tracking control problem of underactuated surface vessels is studied.•A biologically inspired approach is proposed using backstepping, neurodynamics model and NN.•The control algorithm is efficient as no time derivatives of virtual controls are needed.•The NN learning algorithm derived from Lya...