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Mr. 何垚 何
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Journal Article
LMLuke Ma
Luke Ma庞庞庞思奕 庞
庞思奕 庞何何何垚 何
何垚 何YWYongxin Wu
Yongxin WuYLYanjun Li
Yanjun LiWZWeijun ZHOU
Weijun ZHOUThis study uses a port-Hamiltonian framework to address trajectory tracking control for unmanned surface vessels (USVs) under unknown disturbances. A passivity-based sliding mode controller is designed, integrating adaptive disturbance estimation and an RBFNN-based uncertainty estimator. Stability is rigorously proven, and simulations confirm superior tracking performance, strong disturbance rejection, and accurate uncertainty estimation.
About Me
He Yao received his Bachelor's degree in Automation from Hangzhou City University in 2024 and is now in his second year of undergraduate studies. He was awarded with Project 202413021009, supported by the Chinese National Training Program of Innovation and Entrepreneurship for Undergraduates. He joined the university's Robotics Club, where he collaborated with peers on robot design and programming projects. His research interests mainly include automation systems, robotics, and intelligent manufacturing. He plans to pursue graduate studies in robotics.