scholarly journals Neural Network-Based Adaptive Finite-Time Consensus Tracking Control for Multiple Autonomous Underwater Vehicles

IEEE Access ◽  
2019 ◽  
Vol 7 ◽  
pp. 33064-33074 ◽  
Author(s):  
Jian Cui ◽  
Lin Zhao ◽  
Jinpeng Yu ◽  
Chong Lin ◽  
Yumei Ma
Keyword(s):  
Neural Network ◽  
Finite Time ◽  
Tracking Control ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Consensus Tracking

Neural Network-Based Tracking Control of Underactuated Autonomous Underwater Vehicles With Model Uncertainties

2014 ◽  
Vol 137 (2) ◽  
Author(s):  
Bong Seok Park
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Control Method ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Reference Trajectory ◽  
Control Input ◽  
Model Uncertainties ◽  
Dynamic Surface ◽  
Hydrodynamic Damping

In this paper, we propose a neural network (NN)-based tracking control method for underactuated autonomous underwater vehicles (AUVs) with model uncertainties. In order to solve the difficulties in designing the controller for underactuated AUVs, the additional virtual control input is developed, and the approach angle, which generates the desired yaw angle to track any reference trajectory, is introduced. Moreover, the NNs are used to deal with model uncertainties in the hydrodynamic damping terms of AUVs. Finally, the proposed controller is designed based on the dynamic surface control (DSC) method, and the boundedness of all tracking errors is proved by using the Lyapunov stability theory. Some simulation results demonstrate the performance of the proposed control method.

scholarly journals Finite-time observer based tracking control of uncertain heterogeneous underwater vehicles using adaptive sliding mode approach

2021 ◽  
Author(s):  
Bo Chen ◽  
Yiyi Zhao ◽  
Jiangping Hu ◽  
Bijoy Kumar Ghosh
Keyword(s):  
Sliding Mode Control ◽  
Finite Time ◽  
Tracking Control ◽  
Sliding Mode ◽  
Underwater Vehicles ◽  
Adaptive Sliding Mode Control ◽  
Adaptive Sliding Mode ◽  
Mode Control ◽  
Uncertain Dynamics ◽  
Consensus Tracking

Abstract In this study, we investigate a finite-time consensus tracking problem for a group of autonomous underwater vehicles (AUVs) with heterogeneous uncertain dynamics. We firstly propose a two-layer distributed control strategy, which consists of an upper-layer distributed observer and a lower-layer controller, without using any global information. Based on Hölder's inequality and the theory of finite-time stability, we develop a distributed finite-time observer for each follower to estimate the position information of a leader (i.e., an exosystem). Based on the sliding mode control method, we design a consensus tracking control scheme for each AUV, by which all follower AUVs can track the leader in finite-time. Secondly, when the parameters in the AUV dynamics are uncertain, we introduce a parameter-adaptive sliding mode control algorithm to improve the control performance. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control algorithms.

Fixed-time sliding mode tracking control for autonomous underwater vehicles

2021 ◽  
Vol 117 ◽  
pp. 102928
Author(s):  
Jiaqi Zheng ◽  
Lei Song ◽  
Lingya Liu ◽  
Wenbin Yu ◽  
Yiyin Wang ◽  
...  
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Fixed Time ◽  
Underwater Vehicles ◽  
Mode Tracking
Sign in / Sign up

Export Citation Format

Share Document