Adaptive Neural Network Control of a Marine Vessel With Constraints Using the Asymmetric Barrier Lyapunov Function

• Published in: IEEE transactions on cybernetics Vol. 47; no. 7; p. 1641
• Main Authors: Wei He, Zhao Yin, Changyin Sun
• Format: Journal Article
• Language: English
• Published: United States 01.07.2017

In this paper, we consider the trajectory tracking of a marine surface vessel in the presence of output constraints and uncertainties. An asymmetric barrier Lyapunov function is employed to cope with the output constraints. To handle the system uncertainties, we apply adaptive neural networks to app...