Affiliation:
1. School of Automation, Nanjing University of Science and Technology, Nanjing 210094, China
Abstract
Due to the hostile marine environment, there will inevitably be unpredictable factors during the operation of unmanned underwater vehicles, including changes in ocean currents, hull dimensions, and velocity measurement uncertainties. An improved finite-time adaptive tracking control issue is considered for autonomous underwater vehicles (AUVs) with uncertain dynamics, unknown external disturbances, and unavailable speed information. A state observer is designed to estimate the position and velocity of the vehicle via a neural network (NN) approach. The NN is used to estimate uncertainties and external disturbances. A finite-time controller is designed via backstepping and command filter techniques. A multi-input multi-output (MIMO) filter for AUVs is established, and the corresponding MIMO filter compensation signal is constructed to eliminate the effect of filtering error. All the signals of the closed-loop system are proved to be finite-time bounded. An example with comparison is given to show the effectiveness of our method.
Subject
Artificial Intelligence,Computer Science Applications,Aerospace Engineering,Information Systems,Control and Systems Engineering
Reference48 articles.
1. Line of sight target tracking control of underactuated autonomous underwater vehicles;Shojaei;Ocean Eng.,2017
2. Robust trajectory tracking control for underactuated autonomous underwater vehicles in uncertain environments;Nikou;IEEE Trans. Autom. Sci. Eng.,2020
3. Polvara, R., Sharma, S., Wan, J., Manning, A., and Sutton, R. (2018). Vision-based autonomous landing of a quadrotor on the perturbed deck of an unmanned surface vehicle. Drones, 2.
4. Efficient uncertainty propagation in model-based reinforcement learning unmanned surface vehicle using unscented kalman filter;Wang;Drones,2023
5. Adaptive model predictive control for underwater manipulators using Gaussian process regression;Liu;J. Mar. Sci. Eng.,2023
Cited by
2 articles.
订阅此论文施引文献
订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献