L2 Disturbance Attenuation Control for Path Following of AUV in 3D

摘要：

Because of the nonlinear hydrodynamic damping and the external current disturbances, the problem of autonomous underwater vehicle (AUV) path following control has not been solved perfectly. Based on the estimation error generated by neural network approaching nonlinear hydrodynamic damping and external disturbances, this paper presents a robust neural network control method based on the L2disturbance attenuation. The simulation results show that the designed controller can better attenuate the disturbance of the nonlinear hydrodynamic damping and ocean currents. The accurate three-dimensional path following of AUV can be achieved.

关键词： AUV path following control L2 disturbance attenuation

作者: Lu Wang He-ming Jia Li-jun Zhang Li-xin Yang Hong-bin Wang

作者单位: College of Automation Harbin Engineering University Harbin, China College of Computer Science and Technology Harbin Engineering University Harbin, China

会议类型: 国际会议

会议名称: 2011 2nd International Conference on Data Storage and Data Engineering(DSDE 2011)(2011年第二届数据存储与数据工程国际会议)

会议地点: 西安

会议语种:英文

页码: 126-129

在线出版日期: 2011-05-13（万方平台首次上网日期，不代表论文的发表时间）