Adaptive Zeroing-Gradient Controller for Ship Course Tracking With Near Singularity Considered and Zero Theoretical Tracking Error.
Dongyang FuHuan WangXiuchun XiaoShan LiaoLong JinPublished in: IEEE Access (2019)
Keyphrases
- tracking error
- nonlinear systems
- closed loop
- control scheme
- control law
- fuzzy controller
- adaptive fuzzy
- tracking accuracy
- lyapunov function
- adaptive controller
- robot manipulators
- controller design
- adaptive control
- control system
- fuzzy control
- lyapunov stability
- fuzzy model
- control method
- control algorithm
- position information
- optimal control
- control strategy
- fuzzy systems
- fuzzy logic controller
- adaptive neural
- sliding mode control
- hopfield neural network
- gradient method
- dynamic model
- rule base
- kalman filter
- dynamic programming