Adaptive trajectory tracking control of a fully actuated surface vessel with asymmetrically constrained input and output

• Main Authors: Zheng, Zewei, Huang, Yanting, Xie, Lihua, Zhu, Bing
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2020
• Subjects: Engineering::Electrical and electronic engineering; Asymmetric Constraints; Backstepping
• Online Access: https://hdl.handle.net/10356/140145
• Institution: Nanyang Technological University

This brief addresses the trajectory tracking control problem of a fully actuated surface vessel subjected to asymmetrically constrained input and output. The controller design process is based on the backstepping technique. An asymmetric time-varying barrier Lyapunov function is proposed to address...