A Novel Approach to Robust Adaptive NN Tracking Control for AUVs

摘要：

　　In this paper,a novel adaptive neural network(NN)controller is proposed for trajectory tracking of autonomous underwater vehicles(AUVs)in the presence of model errors and external disturbance.A command filtered technique is used to tackle the problem of explosion of complexity inherent in the conventional backstepping method.Furthermore,the norm of the ideal weighting vector in neural network systems is considered as the estimation parameter,such that only one parameter is adjusted.It is also shown that the proposed NN based adaptive robust controller can guarantee the uniformly ultimately bounded of the AUV systems.Finally a numerical example is given to demonstrate the validity of the results.

关键词： neural network command filtered technique underwater vehicle nonlinear system

作者: MIAO Baobin LI Tieshan LUO Weilin

作者单位: Navigational College,Dalian Maritime University,Dalian 116026,China College of Mechanical Engineering and Automation,Fuzhou University,Fujian 350108,China

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8011-8016

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）