Composite neural learning-based adaptive actuator failure compensation control for full-state constrained autonomous surface vehicle

作     者：Song, Shuai Jiang, Yu Song, Xiaona Stojanovic, Vladimir 

作者机构：School of Information Engineering Henan University of Science and Technology Kaiyuan Avenu Luoyang471023 China Faculty of Mechanical and Civil Engineering University of Kragujevac Kraljevo36000 Serbia 

出 版 物：《Neural Computing and Applications》 (Neural Comput. Appl.)

年 卷 期：2025年第37卷第8期

页      面：6369-6381页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 0809[工学-电子科学与技术（可授工学、理学学位）] 08[工学] 0824[工学-船舶与海洋工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：This work was supported in part by the National Natural Science Foundation of China under Grant 62203153 and 62473130  in part by the Joint Fund of Science and Technology R$\\&$D Plan of Henan Province for Young Scientists under Grant 235200810105  in part by Application Research Project of the Joint Fund of Science and Technology R$\\&$D Plan of Henan Province under Grant 242103810052  in part by Technology Innovative Teams in University of Henan Province under Grant 23IRTSTHN012  and in part by the Serbian Ministry of Education  Science and Technological Development (No. 451-03-68/2022-14/200108) 

主　　题：Backstepping 

摘      要：This article studies composite neural learning-based adaptive failure compensation control issues for the autonomous surface vehicle with full-state constraints. Initially, the control strategy solve the problems of computational complexity and state constraints and eliminate the negative effect of filter error on tracking performance by integrating with the command-filtered backstepping technique and barrier Lyapunov functions. Then, a composite neural learning framework is established, where the effect caused by approximation error on tracking accuracy can be efficiently reduced by constructing the serial-parallel estimation model to obtain the estimations of the system states. Furthermore, an adaptive resilient trajectory tracking controller is designed, which can ensure that all the signals of the closed-loop system are semi-globally uniformly ultimately bounded satisfying the preset constraints even if the expected actuator faults occur suddenly. Finally, the feasibility and superiority of the designed control strategy are clarified by simulation results. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.