Chengcheng Pang

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This paper address the problem of trajectory tracking control of an USV based on nonlinear adaptive observer using dynamic recurrent fuzzy neural network (DRFNN). In order to control an underactuated surface vehicle (USV) efficiently, knowledge about the position, velocity and attitude of the USV is needed. For low-cost USV, the sensor suit can only provide(More)
This paper proposes a design for a robust adaptive controller for the Dynamical Positioning (DP) of underwater vehicles with unknown hydrodynamic coefficients, unknown disturbances and input dead-zones. First, for convenience of controller design, the Multi-Input Multi-Output (MIMO) system is divided into several Single-Input Single-Output (SISO) systems.(More)
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