Robust Adaptive Dynamic Surface Control for Synchronized Path Following of Multiple Underactuated Autonomous

摘要：

　　In this paper,we consider the problem of synchronized path following for multiple underactuated autonomous underwater vehicles subject to parametric modeling uncertainty and unmodeled dynamics.Nonlinear path following controllers are proposed for individual vehicles that yield convergence of the position tracking errors to a small neighborhood of the origin.Vehicles coordination is reached through synchronizing the along-path speed and path variables,by using a mixture of tools from graph theory and Lyapunov theory.The developed neural network (NN) adaptive technique allows to handle the parametric modeling uncertainty and unmodeled dynamics,without requiring the accurate knowledge of the model.The proposed dynamic surface control (DSC) technique simplifies the synchronized path following controllers by introducing the first-order filters.A complete stability analysis is provided to illustrate that all signals in the closed-loop system are uniformly ultimately bounded (UUB).Simulation results validate the performance and robustness improvement of the proposed strategy.

关键词： Dynamic Surface Control Neural Networks Synchronized Path Following Underactuated Underwater Autonomous Vehicles

作者: WANG Hao WANG Dan PENG Zhouhua YAN Langtao DIAO Liang

作者单位: Marine Engineering College,Dalian Maritime University,Dalian 116026,PR 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: 1949-1954

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）