Adaptive NN tracking control of overactuated ocean surface vessels

In this paper, adaptive NN (neural network) tracking control is proposed for ocean surface vessels with parametric uncertainties, unknown disturbances and rotary actuators. Based on the Lyapunov synthesis method and backstepping technique, adaptive NN tracking control is developed by incorporating the actuator configuration matrix and considering actuator saturation constraints. In the proposed adaptive tracking control, the changeable actuator configuration matrix caused by rotary propulsion devices is explicitly considered. Finally, simulation studies are given to illustrate the effectiveness of the proposed adaptive NN tracking control.