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Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles 被引量:7

Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles
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摘要 A robust neural network controller (NNC) is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combination with neural network identification. Modeling errors and environmental disturbances are considered in the mathematical model. A twolayer neural network is introduced to compensate the modeling errors, while H∞ control strategy is used to achieve the L2-gain performance. The uniformly ultimately bounded (UUB) stabilities of tracking errors and NN weights are guaran- teed through the proposed controller. An on-line NN weights tuning algorithm is also propesed. Good performances of the tracking control system are illustrated bv the results of numerical simulations. A robust neural network controller (NNC) is presented for tracking control of underwater vehicles with uncertainties. The controller is obtained by using backstepping technique and Lyapunov function design in combination with neural network identification. Modeling errors and environmental disturbances are considered in the mathematical model. A twolayer neural network is introduced to compensate the modeling errors, while H∞ control strategy is used to achieve the L2-gain performance. The uniformly ultimately bounded (UUB) stabilities of tracking errors and NN weights are guaran- teed through the proposed controller. An on-line NN weights tuning algorithm is also propesed. Good performances of the tracking control system are illustrated bv the results of numerical simulations.
出处 《China Ocean Engineering》 SCIE EI 2007年第2期281-292,共12页 中国海洋工程(英文版)
基金 This work wasfinancially supported bythe National Natural Science Foundation of China (Gsant No10572094) the Special Research Fundfor the Doctoral Programof Higher Education (Grant No20050248037)
关键词 underwater vehicle trajectory tracking robust control neural network underwater vehicle trajectory tracking robust control neural network
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