燕山大学学报2025，Vol.49Issue(2)：114-120,7.DOI:10.3969/j.issn.1007-791X.2025.02.003
自主水下航行器事件触发自适应神经渐近轨迹跟踪控制
Event-triggered adaptive neural asymptotic trajectory tracking control of autonomous underwater vehicles
摘要
Abstract
Aiming at the high-precision trajectory tracking control of autonomous underwater vehicles on the horizontal plane,an event-triggered adaptive neural asymptotic tracking control scheme is developed.The radial basis function neural networks approximate the uncertain terms composed of environmental disturbances,unknown model dynamics and the derivatives of virtual control laws,and the minimum learning parameter technique is adopted to construct the nonlinear damping terms in the control laws and the single-parameter adaptive laws.The integral-bounded functions are incorporated in the control design.The triggering conditions with the variable thresholds are designed in the controller-to-actuator channel.The separate event-triggered asymptotic controllers are derived.Through the Lyapunov's direct method and the Barbalat's lemma,the asymptotic stability of the closed-loop system is proved.Finally,the superiority of the proposed scheme is verified through the simulation.关键词
自主水下航行器/渐近跟踪控制/最小学习参数/事件触发控制Key words
autonomous underwater vehicle/asymptotic tracking control/minimum learning parameter/event-triggered control分类
计算机与自动化引用本文复制引用
唐思星,邓英杰,赵运利..自主水下航行器事件触发自适应神经渐近轨迹跟踪控制[J].燕山大学学报,2025,49(2):114-120,7.基金项目
国家自然科学基金青年基金资助项目(52101375) （52101375）
河北省自然科学基金资助项目(E2021203142) （E2021203142）
