控制理论与应用2012，Vol.29Issue(7)：877-883,7.
基于神经网络的水下机器人三维航迹跟踪控制
Three-dimensional path tracking control for autonomous underwater vehicle based on neural network
摘要
Abstract
Considering the uncertain hydrodynamic coefficients and environmental current disturbances, we propose an adaptive output feedback neural network controller for the three-dimensional path tracking control of an autonomous underwater vehicle (AUV). The controller consists of three control terms: the output feedback control term of the dynamic compensator, the neural network adaptive control term and the robust control term. An observer is designed to provide the neural network with the adaptive learning signal. The stability of the controller is analyzed by Lyapunov theory. A three-dimensional path tracking simulation is carried out on an experimental AUV; simulations results show that the designed controller provides high tracking precision, effectively suppresses the effect of the time-varying nonlinear hydrodynamic damping on the AUV system, and significantly attenuate the external currents disturbances.关键词
水下机器人/三维航迹跟踪/神经网络/自适应控制Key words
autonomous underwater vehicle/ three-dimensional path tracking/ neural network/ adaptive control分类
信息技术与安全科学引用本文复制引用
贾鹤鸣,张利军,齐雪,杨立新..基于神经网络的水下机器人三维航迹跟踪控制[J].控制理论与应用,2012,29(7):877-883,7.基金项目
国家自然科学基金资助项目(61174047) （61174047）
教育部博士点基金资助项目(20102304110003) （20102304110003）
XX预研项目资助项目(51316080301). （51316080301）
