@inproceedings{dadc61fc50844ab4bb919ecc91f685cb,
title = "Robust Fully Actuated Control for Underactuated USVs via Dynamic Extension and Neural Compensation",
abstract = "This paper presents a novel robust control framework for underactuated unmanned surface vehicles (USVs) by integrating fully actuated system (FAS) theory with dynamic extension. To overcome the inherent relative degree mismatch and lateral underactuation, a dynamic extension strategy is employed to map the nonlinear dynamics into a third-order strict fully actuated standard form. A data-driven robust FAS control law, incorporating radial basis function neural networks (RBF NNs) and a disturbance observer (DOB), is proposed. Rigorous Lyapunov analysis proves that the closed-loop system is semi-globally uniformly ultimately bounded (SGUUB) without exhibiting actuator chattering. Numerical simulations on the Cybership-II model under multi-level disturbances validate the effectiveness of the proposed approach and reveal the physical robustness boundary imposed by Coriolis coupling and actuator constraints.",
keywords = "Dynamic Extension, Radial Basis Function Neural Networks, Trajectory Tracking, Unmanned Surface Vehicles",
author = "Rui Tang and Xinpo Lin and Zhiyuan Zhao and Mu Tong and Bowen Yao and Zhuang Liu and Yabin Gao and Huihui Song",
note = "Publisher Copyright: {\textcopyright} 2026 IEEE.; 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026 ; Conference date: 22-05-2026 Through 24-05-2026",
year = "2026",
doi = "10.1109/FASTA70174.2026.11549191",
language = "英语",
series = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "2091--2096",
booktitle = "Proceedings of the 5th Conference on Fully Actuated System Theory and Applications, FASTA 2026",
address = "美国",
}