Adaptive control for a class of partially unknown non-affine systems: Applied to autonomous surface vessels

Ali Haseltalab; Rudy R. Negenborn

doi:10.1016/j.ifacol.2017.08.830

Adaptive control for a class of partially unknown non-affine systems: Applied to autonomous surface vessels

Ali Haseltalab, Rudy R. Negenborn

Transport Engineering and Logistics

Research output: Contribution to journal › Conference article › Scientific › peer-review

7 Citations (Scopus)

Abstract

In this paper, a neural network-based adaptive control algorithm is proposed for a class of non-affine systems where the nonlinear influence of the system input on the states is unknown. The algorithm transforms the problem of controlling non-affine systems to control of nonlinear affine systems and then, by approximating the inverse of the input function, calculates feasible control input. Lyapunov technique, Uniform Ultimate Boundedness and Matrix Singular Values are used for stability analysis and design of the controller. In order to investigate the performance of the algorithm, it is applied to an autonomous vessel where the dynamics of the propeller is unknown.

Original language	English
Pages (from-to)	4252-4257
Journal	IFAC-PapersOnLine
Volume	50
Issue number	1
DOIs	https://doi.org/10.1016/j.ifacol.2017.08.830
Publication status	Published - 2017
Event	20th World Congress of the International Federation of Automatic Control (IFAC), 2017 - Toulouse, France Duration: 9 Jul 2017 → 14 Jul 2017 Conference number: 20 https://www.ifac2017.org

Keywords

Adaptive Control
Autonomous Vessels
Neural Networks

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10.1016/j.ifacol.2017.08.830

Cite this

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title = "Adaptive control for a class of partially unknown non-affine systems: Applied to autonomous surface vessels",

abstract = "In this paper, a neural network-based adaptive control algorithm is proposed for a class of non-affine systems where the nonlinear influence of the system input on the states is unknown. The algorithm transforms the problem of controlling non-affine systems to control of nonlinear affine systems and then, by approximating the inverse of the input function, calculates feasible control input. Lyapunov technique, Uniform Ultimate Boundedness and Matrix Singular Values are used for stability analysis and design of the controller. In order to investigate the performance of the algorithm, it is applied to an autonomous vessel where the dynamics of the propeller is unknown.",

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T2 - 20th World Congress of the International Federation of Automatic Control (IFAC), 2017

AU - Haseltalab, Ali

AU - Negenborn, Rudy R.

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N2 - In this paper, a neural network-based adaptive control algorithm is proposed for a class of non-affine systems where the nonlinear influence of the system input on the states is unknown. The algorithm transforms the problem of controlling non-affine systems to control of nonlinear affine systems and then, by approximating the inverse of the input function, calculates feasible control input. Lyapunov technique, Uniform Ultimate Boundedness and Matrix Singular Values are used for stability analysis and design of the controller. In order to investigate the performance of the algorithm, it is applied to an autonomous vessel where the dynamics of the propeller is unknown.

AB - In this paper, a neural network-based adaptive control algorithm is proposed for a class of non-affine systems where the nonlinear influence of the system input on the states is unknown. The algorithm transforms the problem of controlling non-affine systems to control of nonlinear affine systems and then, by approximating the inverse of the input function, calculates feasible control input. Lyapunov technique, Uniform Ultimate Boundedness and Matrix Singular Values are used for stability analysis and design of the controller. In order to investigate the performance of the algorithm, it is applied to an autonomous vessel where the dynamics of the propeller is unknown.

KW - Adaptive Control

KW - Autonomous Vessels

KW - Neural Networks

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Y2 - 9 July 2017 through 14 July 2017

ER -

Adaptive control for a class of partially unknown non-affine systems: Applied to autonomous surface vessels

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Keywords

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