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Outline
This paper focuses on proposing a finite-time command filtered backstepping robust adaptive dynamic positioning control method to deal with the thruster dynamics, parameters uncertainty, input saturation and unknown external disturbance problems. The proposed method not only has the advantages of the command filtered backstepping, but also can guarantee the control system convergence in finite time. Firstly, adaptive neural network was used to estimate uncertain functions in the system. Secondly, the thruster input saturation issue was addressed with a finite-time auxiliary dynamic system. Finally, based on the uncertain estimation and the FTADS, a finite-time command filtered backstepping (FTCFB) control law was introduced, and the system tracking errors and parameter estimating errors were proved to be convergent in finite time by using Lyapunov stability theory. Additionally, the effectiveness of the proposed positioning control method was verified by numerical simulations.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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