Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles-中国期刊网

摘要 Arobustneuralnetworkcontroller(NNC)ispresentedfortrackingcontrolofunderwatervehicleswithuncertainties.ThecontrollerisobtainedbyusingbacksteppingtechniqueandLyapunovfunctiondesignincombinationwithneuralnetworkidentification.Modelingerrorsandenvironmentaldisturbancesareconsideredinthemathematicalmodel.Atwo-layerneuralnetworkisintroducedtocompensatethemodelingerrors,whileH∞controlstrategyisusedtoachievetheL2-gainperformance.Theuniformlyultimatelybounded(UUB)stabilitiesoftrackingerrorsandNNweightsareguaranteedthroughtheproposedcontroller.Anon-lineNNweightstuningalgorithmisalsoproposed.Goodperformancesofthetrackingcontrolsystemareillustratedbytheresultsofnumericalsimulations.

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Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles

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Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles

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