| Autor: |
Jin Hoe Kim, Sung Jin Yoo |
| Jazyk: |
angličtina |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
Mathematics, Vol 9, Iss 10, p 1144 (2021) |
| Druh dokumentu: |
article |
| ISSN: |
2227-7390 |
| DOI: |
10.3390/math9101144 |
| Popis: |
A nonlinear-observer-based design methodology is proposed for an adaptive event-driven output-feedback tracking problem with guaranteed performance of uncertain underactuated underwater vehicles (UUVs) in six-degrees-of-freedom (6-DOF). A nonlinear observer using adaptive neural networks is presented to estimate the velocity information in the presence of unknown nonlinearities in the dynamics of 6-DOF UUVs where a state transformation approach using a time-varying scaling factor is introduced. Then, an output-feedback tracker using a nonlinear error function and estimated states is recursively designed to overcome the underactuated problem of the system dynamics and to guarantee preselected control performance in three-dimensional space. It is shown that the tracking error of the nonlinear-observer-based output-feedback control system exponentially converges a small neighbourhood around the zero. Efficiency of the resulting output-feedback strategy is verified through a simulation. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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