Affiliation:
1. School of Mathematics and Computer Science, Wuhan Polytechnic University, Wuhan 430023, China
Abstract
A path tracking controller is designed for an autonomous underwater vehicle (AUV) with input delay based on neural network (NN) predictive control algorithm. To compensate for the time-delay in control system and realize the purpose of path tracking, a predictive control algorithm is proposed. An NN is used to estimate the nonlinear uncertainty of AUV induced by hydrodynamic coefficients and the coupling of the surge, sway, and yaw angular velocity. By Lyapunov theorem, stability analysis is also given. Simulation results show the effectiveness of the proposed control strategy.
Funder
Natural Science Foundation of Hubei Province
Subject
Electrical and Electronic Engineering,Computer Science Applications,Modelling and Simulation
Cited by
4 articles.
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