TY - GEN
T1 - Neural Learning-Based Integrated Guidance and Control Algorithm of Multiple Underactuated AUVs
AU - Mao, Ruiqi
AU - Cui, Rongxin
AU - Yan, Weisheng
AU - Chen, Lepeng
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12
Y1 - 2018/12
N2 - This paper studies an enhanced intergrated guidance and control (IGC) algorithm of multiple underactuated autonomous underwater vehicles (AUVs). Considering the modelling errors and complex nonlinearities in the dynamics, an integrated mathematical model of guidance and control is established, and neural network (NN) approximation-based adaptive controller is used to deal with the uncertainties in the dynamics. A dynamic surface control (DSC) based recursive design procedure is adopted to calculate the actual control input. Effective tunning laws are proposed for each NN approximator which can guarantee a uniformly ultimately bounded (UUB) stability of the entired system with the use of rigorous Lyapunov-based stability proofs. Mathmatical simulation examples are carried out to corroborate the validity of the proposed algorithm.
AB - This paper studies an enhanced intergrated guidance and control (IGC) algorithm of multiple underactuated autonomous underwater vehicles (AUVs). Considering the modelling errors and complex nonlinearities in the dynamics, an integrated mathematical model of guidance and control is established, and neural network (NN) approximation-based adaptive controller is used to deal with the uncertainties in the dynamics. A dynamic surface control (DSC) based recursive design procedure is adopted to calculate the actual control input. Effective tunning laws are proposed for each NN approximator which can guarantee a uniformly ultimately bounded (UUB) stability of the entired system with the use of rigorous Lyapunov-based stability proofs. Mathmatical simulation examples are carried out to corroborate the validity of the proposed algorithm.
UR - http://www.scopus.com/inward/record.url?scp=85070616197&partnerID=8YFLogxK
U2 - 10.1109/USYS.2018.8779207
DO - 10.1109/USYS.2018.8779207
M3 - 会议稿件
AN - SCOPUS:85070616197
T3 - 2018 IEEE 8th International Conference on Underwater System Technology: Theory and Application, USYS 2018
BT - 2018 IEEE 8th International Conference on Underwater System Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Underwater System Technology: Theory and Application, USYS 2018
Y2 - 1 December 2018 through 3 December 2018
ER -