Adaptive control and constrained control allocation for overactuated ocean surface vessels

Abstract

In this article, the constrained control allocation is proposed for overactuated ocean surface vessels with parametric uncertainties and unknown external disturbances. The constrained control allocation is transformed into a convex quadratic programming problem and a recurrent neural network is employed to solve it. To complete the control allocation, the control command is derived via the backstepping method. Adaptive tracking control is proposed for the full-state feedback case using the backstepping technique and the Lyapunov synthesis. It is proved that the proposed adaptive tracking control is able to guarantee semi-global uniform ultimate boundedness of all signals in the closed-loop system. Then, the obtained control command is distributed to each actuator of overactuated ocean vessels. Finally, simulation studies are presented to illustrate the effectiveness of the proposed adaptive tracking control and the constrained control allocation scheme.

Keywords:

• overactuated ocean surface vessels
• constrained control allocation
• adaptive tracking control
• backstepping control

Acknowledgements

This work is partially supported by National Natural Science Foundation of China (Granted Number: 61174102), Program for New Century Excellent Talents in University of China (Granted Number: NCET-11-0830), Jiangsu Natural Science Foundation of China (Granted Number: SBK2011069) and A Project Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions.