Adaptive neural output constrained control for an unmanned surface vessel with coupled input constraint

作     者：Ouyang, Yuncheng Bai, Yang Kong, Linghuan Wang, Xuerao 

作者机构：School of Artificial Intelligence the Engineering Research Center of Autonomous Unmanned System Technology Ministry of Education Anhui Provincial Engineering Research Center for Unmanned System and Intelligent Technology Anhui University Hefei China Department of Electrical and Computer Engineering Faculty of Science and Technology University of Macau Macao China 

出 版 物：《Ocean Engineering》 (Ocean Eng.)

年 卷 期：2025年第335卷

核心收录：

学科分类：0711[理学-系统科学] 07[理学] 0707[理学-海洋科学] 0811[工学-控制科学与工程] 0701[理学-数学] 

基　　金：The authors would like to express appreciation for the financial support provided by the National Natural Science Foundation of China under Grant 62303008  62303012  62495083  62236002 

主　　题：Adaptive control systems 

摘      要：In this paper, we focus on the tracking control problem of an uncertain unmanned surface vessel (USV) system with coupled input constraint and output constraint. Considering the issue of coupled input constraint, a transformation matrix is proposed to decouple the constrained inputs. Concerning output constraint occurring in a limited time interval (OCOLT) of the USV system, a novel shifting function with a new barrier function is introduced to transform the constrained system into an unconstrained one. Furthermore, neural network technology is employed to tackle the problems of system uncertainty. Through the Lyapunov stability theory, the stability analysis of the USV system is given to demonstrate the feasibility of the proposed control method. Finally, effectiveness of the proposed control method is verified by simulations. © 2025 Elsevier Ltd