NN Based Adaptive Dynamic Surface Control for Fully Actuated AUV

In this brief, we consider the problem of tracking a desired trajectory for fully actuated autonomous underwater vehicle (AUV), in the presence of external disturbance and model errors. Based on the backstepping method and Lypunov stability theorem, we introduce the dynamic surface control (DSC) technique to tackle the problem of "explosion of complexity" which existing in the traditional backstepping algorithm. Furthermore, the norm of the ideal weighting vector in neural network (NN) systems is considered as the estimation parameter, such that only one parameter is adjusted. The proposed controller guarantees uniform ultimate bounded (UUB) of all the signals in the closed-loop system, while the tracking error converges to a small neighborhood of the origin. Finally, simulation studies are given to illustrate the effectiveness of the proposed algorithm.

[1]  Gang Feng,et al.  A combined backstepping and small-gain approach to robust adaptive fuzzy control for strict-feedback nonlinear systems , 2004, IEEE Trans. Syst. Man Cybern. Part A.

[2]  Swaroop Darbha,et al.  Dynamic surface control for a class of nonlinear systems , 2000, IEEE Trans. Autom. Control..

[3]  Meng Joo Er,et al.  Online adaptive fuzzy neural identification and control of a class of MIMO nonlinear systems , 2003, IEEE Trans. Fuzzy Syst..

[4]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[5]  Tieshan Li,et al.  Adaptive neural control of nonlinear MIMO systems with unknown time delays , 2012, Neurocomputing.

[6]  Hongmei Zhang,et al.  Adaptive backstepping sliding mode control for nonlinear systems with input saturation , 2012 .

[7]  Xiaofeng Wang,et al.  Robust Adaptive Neural Network Control for Strict-Feedback Nonlinear Systems Via Small-Gain Approaches , 2006, ISNN.

[8]  Luo Wei-lin.  Neural Network Based Robust Controller for Trajectory Tracking of Underwater Vehicles , 2007 .

[9]  Dan Wang,et al.  Neural network-based adaptive dynamic surface control for a class of uncertain nonlinear systems in strict-feedback form , 2005, IEEE Transactions on Neural Networks.

[10]  P. P. Yip,et al.  Adaptive dynamic surface control : a simplified algorithm for adaptive backstepping control of nonlinear systems , 1998 .

[11]  Junsheng Ren,et al.  Adaptive fuzzy robust tracking controller design via small gain approach and its application , 2003, IEEE Trans. Fuzzy Syst..