Trajectory tracking control of Autonomous Marine Vessel using Neuro-Adaptive Sliding Mode Contro

Authors

Keywords:

marine vessel, linear algebra, adaptive control, Artificial Neural Networks

Abstract

This research paper presents the design of a control technique based on the combination of Linear Algebra (LABC) with Neuro Adaptive Sliding Mode Control (NN-SMC) applied to the control of a marine vessel. Where the linear Algebra technique controls the kinematics of the Vessel and the NN-SMC controls its dynamics. Where the adaptive capacity of the neural networks learns the vessel dynamics, including the non modeled dynamics. The simulation results show satisfactory results especially when disturbances are acting on its dynamics. Finally, the convergence of the proposed technique was demonstrated using Lyapunov’s theory.

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Author Biographies

Francisco Rossomando, Instituto de Automática, Universidad Nacional de San Juan,

He recived the eng. degree in electronics from the university National of San Juan (Argentina) in 1997, the M.Sc. degree in Control System Engineering from the UNSJ in 2002, and the PhD degree in Electric Engineering from the Unviversity Federal of Espirito Santo (ES-Brazil) in 2006. Since 2013, he is asociate researcher of the National Council for Scientific and Technical Research of Argentina (CONICET).

Emanuel Serrano, Universidad Nacional de San Juan

He is an Electronic Engineer from Engineering School of National University of San Juan-Argentina, obtained her PhD in Control Engineering Systems from Institute of Automatica at Universidad Nacional de San Juan in Argentina in 2014. Is a researcher of National Scientific and Technical Research Council (CONICET). His research interests are Robotic Systems, Process Control, Linear Algebra Methods, Adaptive Control and Non-linear Control.

Gustavo Scaglia, Universidad Nacional de San Juan

He is an Electronic Engineer from Engineering School of National University of San Juan-Argentina, obtained her PhD in Control Engineering Systems from Institute of Automatica at Universidad Nacional de San Juan in Argentina in 2006. Is a researcher of National Scientific and Technical Research Council (CONICET). His research interests are Robotic Systems, Process Control, Linear Algebra Methods, Adaptive Control, Robust Control and Non-linear Control.

Published

2021-06-07

How to Cite

Rossomando, F., Serrano, E., & Scaglia, G. (2021). Trajectory tracking control of Autonomous Marine Vessel using Neuro-Adaptive Sliding Mode Contro. IEEE Latin America Transactions, 19(5), 763–771. Retrieved from https://latamt.ieeer9.org/index.php/transactions/article/view/3974

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