A Predictor-based Neural DSC Design Approach to Distributed Coordinated Control of Multiple Autonomous Underwater Vehicles
This paper considers the distributed coordinated control problem of multiple autonomous underwater vehicles with a time-varying reference trajectory.Each vehicle is subject to model uncertainty and time-varying ocean disturbances.A new predictor-based neural dynamic surface control design approach is proposed to develop distributed adaptive node controllers,under which synchronization between vehicles can be reached under the condition that the augmented graph induced by the vehicles and the reference trajectory contains a spanning tree.The prediction errors are used to update the neural adaptive laws,which enables fast identifying the vehicle dynamics without excessive knowledge of their dynamical models.The stability properties of the closed-loop network are established via Lyapunov analysis.Simulation results demonstrate the performance improvement of the proposed control strategy.
Distributed Coordinated Control Dynamic Surface Control(DSC) Predictor Neural Networks Fast Learning
Zhouhua Peng Dan Wang Hao Wang Wei Wang Liang Diao
School of Marine Engineering,Dalian Maritime University,Dalian 116026,P.R.China
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
1214-1219
2014-07-28（万方平台首次上网日期，不代表论文的发表时间）