Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control

Autores
Rossomando, Francisco Guido; Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo
Año de publicación
2021
Idioma
inglés
Tipo de recurso
artículo
Estado
versión publicada
Descripción
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 Neuro Adaptive sliding mode control controls its dynamics. The simulation results show satisfactory results especially when there are disturbances acting on its dynamics. Finally the convergence of the proposed technique was demonstrated using Lyapunov's theory.
Fil: Rossomando, Francisco Guido. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidade Federal do Espírito Santo; Brasil. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Materia
MARINE VESSEL
SLIDING CONTROL
LINEAR ALGEBRA
NEURO-ADAPTIVE CONTROL
Nivel de accesibilidad
acceso abierto
Condiciones de uso
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
Repositorio
CONICET Digital (CONICET)
Institución
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identificador
oai:ri.conicet.gov.ar:11336/147027
Acceder
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oai_identifier_str oai:ri.conicet.gov.ar:11336/147027
network_acronym_str CONICETDig
repository_id_str 3498
network_name_str CONICET Digital (CONICET)
spelling Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode controlRossomando, Francisco GuidoSerrano, Mario EmanuelScaglia, Gustavo Juan EduardoMARINE VESSELSLIDING CONTROLLINEAR ALGEBRANEURO-ADAPTIVE CONTROLhttps://purl.org/becyt/ford/2.2https://purl.org/becyt/ford/2This 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 Neuro Adaptive sliding mode control controls its dynamics. The simulation results show satisfactory results especially when there are disturbances acting on its dynamics. Finally the convergence of the proposed technique was demonstrated using Lyapunov's theory.Fil: Rossomando, Francisco Guido. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidade Federal do Espírito Santo; Brasil. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaFil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; ArgentinaInstitute of Electrical and Electronics Engineers2021-06-07info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersionhttp://purl.org/coar/resource_type/c_6501info:ar-repo/semantics/articuloapplication/pdfapplication/pdfhttp://hdl.handle.net/11336/147027Rossomando, Francisco Guido; Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 19; 5; 7-6-2021; 1-81548-0992CONICET DigitalCONICETenginfo:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/3974info:eu-repo/semantics/openAccesshttps://creativecommons.org/licenses/by-nc-sa/2.5/ar/reponame:CONICET Digital (CONICET)instname:Consejo Nacional de Investigaciones Científicas y Técnicas2025-09-29T10:16:54Zoai:ri.conicet.gov.ar:11336/147027instacron:CONICETInstitucionalhttp://ri.conicet.gov.ar/Organismo científico-tecnológicoNo correspondehttp://ri.conicet.gov.ar/oai/requestdasensio@conicet.gov.ar; lcarlino@conicet.gov.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:34982025-09-29 10:16:54.463CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicasfalse
dc.title.none.fl_str_mv Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control
title Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control
spellingShingle Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control
Rossomando, Francisco Guido
MARINE VESSEL
SLIDING CONTROL
LINEAR ALGEBRA
NEURO-ADAPTIVE CONTROL
title_short Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control
title_full Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control
title_fullStr Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control
title_full_unstemmed Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control
title_sort Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control
dc.creator.none.fl_str_mv Rossomando, Francisco Guido
Serrano, Mario Emanuel
Scaglia, Gustavo Juan Eduardo
author Rossomando, Francisco Guido
author_facet Rossomando, Francisco Guido
Serrano, Mario Emanuel
Scaglia, Gustavo Juan Eduardo
author_role author
author2 Serrano, Mario Emanuel
Scaglia, Gustavo Juan Eduardo
author2_role author
author
dc.subject.none.fl_str_mv MARINE VESSEL
SLIDING CONTROL
LINEAR ALGEBRA
NEURO-ADAPTIVE CONTROL
topic MARINE VESSEL
SLIDING CONTROL
LINEAR ALGEBRA
NEURO-ADAPTIVE CONTROL
purl_subject.fl_str_mv https://purl.org/becyt/ford/2.2
https://purl.org/becyt/ford/2
dc.description.none.fl_txt_mv 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 Neuro Adaptive sliding mode control controls its dynamics. The simulation results show satisfactory results especially when there are disturbances acting on its dynamics. Finally the convergence of the proposed technique was demonstrated using Lyapunov's theory.
Fil: Rossomando, Francisco Guido. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Automática; Argentina. Universidade Federal do Espírito Santo; Brasil. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Serrano, Mario Emanuel. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
Fil: Scaglia, Gustavo Juan Eduardo. Universidad Nacional de San Juan. Facultad de Ingeniería. Instituto de Ingeniería Química; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas; Argentina
description 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 Neuro Adaptive sliding mode control controls its dynamics. The simulation results show satisfactory results especially when there are disturbances acting on its dynamics. Finally the convergence of the proposed technique was demonstrated using Lyapunov's theory.
publishDate 2021
dc.date.none.fl_str_mv 2021-06-07
dc.type.none.fl_str_mv info:eu-repo/semantics/article
info:eu-repo/semantics/publishedVersion
http://purl.org/coar/resource_type/c_6501
info:ar-repo/semantics/articulo
format article
status_str publishedVersion
dc.identifier.none.fl_str_mv http://hdl.handle.net/11336/147027
Rossomando, Francisco Guido; Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 19; 5; 7-6-2021; 1-8
1548-0992
CONICET Digital
CONICET
url http://hdl.handle.net/11336/147027
identifier_str_mv Rossomando, Francisco Guido; Serrano, Mario Emanuel; Scaglia, Gustavo Juan Eduardo; Trajectory tracking control of autonomous marine vessel using neuro adaptive sliding mode control; Institute of Electrical and Electronics Engineers; IEEE Latin America Transactions; 19; 5; 7-6-2021; 1-8
1548-0992
CONICET Digital
CONICET
dc.language.none.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv info:eu-repo/semantics/altIdentifier/url/https://latamt.ieeer9.org/index.php/transactions/article/view/3974
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
eu_rights_str_mv openAccess
rights_invalid_str_mv https://creativecommons.org/licenses/by-nc-sa/2.5/ar/
dc.format.none.fl_str_mv application/pdf
application/pdf
dc.publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
publisher.none.fl_str_mv Institute of Electrical and Electronics Engineers
dc.source.none.fl_str_mv reponame:CONICET Digital (CONICET)
instname:Consejo Nacional de Investigaciones Científicas y Técnicas
reponame_str CONICET Digital (CONICET)
collection CONICET Digital (CONICET)
instname_str Consejo Nacional de Investigaciones Científicas y Técnicas
repository.name.fl_str_mv CONICET Digital (CONICET) - Consejo Nacional de Investigaciones Científicas y Técnicas
repository.mail.fl_str_mv dasensio@conicet.gov.ar; lcarlino@conicet.gov.ar
_version_ 1844614117475745792
score 13.070432

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