What is it about?
Path following plays a pivotal role in the development of unmanned surface vessels, and the main issues on the way to realize the control objective of path following are guidance in the kinematic levels and the control in kinetic levels. These problems are considered in this paper and addressed with reaching the desired performance.
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Why is it important?
We have made a massive difference in the process of path following of unmanned surface vessels. There are three significant findings: a) a novel finite-time predictor line-of-sight is developed and this, can ensure that predictor errors converge to the origin within a finite time; b) the controller designed in this paper could work well without the system's parameters; c) the learning parameters of this controller merely need two throughout the whole path following.
Perspectives
I hope this article makes what people might think is a dull, slightly abstract area like finite-time predictor-based line-of-sight guidance laws design and control design, kind of interesting and maybe even exciting.
Yalei Yu
Dalian Maritime University
Read the Original
This page is a summary of: Finite-time predictor line-of-sight–based adaptive neural network path following for unmanned surface vessels with unknown dynamics and input saturation, International Journal of Advanced Robotic Systems, November 2018, SAGE Publications,
DOI: 10.1177/1729881418814699.
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