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.
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)
