摘要
For an autonomous underwater vehicle (AUV), a nonlinear sliding-mode control based on linear-in-parameter neural network (NSMC-NN) is proposed to deal with the unknown dynamics and the external environmental disturbances and a first-order robust exact differentiator is introduced considering unknown velocities of an AUV. The sliding-mode surfaces of NSMC-NN can enter into the boundary layers after a period that depends on the design parameters. To demonstrate the feasibility of the proposed controller, simulation studies applying Omni-Directional Intelligent Navigator (ODIN) are carried out, compared with proportional–integral–derivative (PID) and the modified sliding-mode control (MSMC). The simulation results show that the presented control method can achieve the effective control performance.
源语言 | 英语 |
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页(从-至) | 677-692 |
页数 | 16 |
期刊 | International Journal of Control |
卷 | 92 |
期 | 3 |
DOI | |
出版状态 | 已出版 - 4 3月 2019 |