东南大学学报（自然科学版）2012，Vol.42Issue(z1)：203-207,5.DOI:10.3969/j.issn.1001-0505.2012.S1.041
基于神经网络的欠驱动水下机器人地形跟踪控制
Bottom following control for underactuated AUV based on neural network
段海庆 1贾鹤鸣 2周佳加 1杨鑫2
作者信息
- 1. 哈尔滨工程大学自动化学院,哈尔滨150001
- 2. 东北林业大学机电工程学院,哈尔滨150040
- 折叠
摘要
Abstract
In order to realize the bottom following control for underactuated autonomous underwater vehicle ( AUV) accurately, an adaptive neural network controller is designed. In order to deal with the parameter variations and uncertainties due to time-varying hydrodynamic dampings , the radial basis function ( RBF) neural network ( NN) is adopted to estimate unknown terms where an adaptive law is chosen to guarantee optimal estimation of the weight of NN. The stability of the tracking control system is analyzed based on the Lyapunov stability theorem, and the closed error system is asymptotical stable and the system states are bounded by the designed controller. Bottom profile with real measured data is used to evaluate the performance of the bottom following controller. Simulation results demonstrate that the proposed controller is effective to eliminate the disturbances caused by vehicle's nonlinear and uncertainty, and has higher tracking accuracy for engineering application.
关键词
欠驱动自治水下机器人/地形跟踪控制/神经网络/李雅普诺夫稳定性Key words
underactuated autonomous underwater vehicle/ bottom following control/ neural network / Lyapunov stability
分类
信息技术与安全科学引用本文复制引用
段海庆,贾鹤鸣,周佳加,杨鑫..基于神经网络的欠驱动水下机器人地形跟踪控制[J].东南大学学报（自然科学版）,2012,42(z1):203-207,5.
