Composite learning tracking control for underactuated autonomous underwater vehicle with unknown dynamics and disturbances in three-dimension space

被引：33

作者：

Liu, Junnan ^{[1
]}

Du, Jialu ^{[1
]}

机构：

[1] Dalian Maritime Univ, Sch Marine Elect Engn, Dalian 116026, Liaoning, Peoples R China

来源：

APPLIED OCEAN RESEARCH | 2021年 / 112卷

基金：

中国国家自然科学基金;

关键词：

Disturbance observer; Tracking; Line-of-sight; Neural network; Composite learning; FAULT-TOLERANT CONTROL; ADAPTIVE-CONTROL; TRAJECTORY-TRACKING; SURFACE CONTROL; ADAPTATION; SYSTEMS;

D O I：

10.1016/j.apor.2021.102686

中图分类号：

P75 [海洋工程];

学科分类号：

0814 ; 081505 ; 0824 ; 082401 ;

摘要：

In this paper, a composite learning tracking control scheme is developed for underactuated autonomous underwater vehicles (AUVs) in the presence of unknown dynamics and time-varying disturbances. Line-of-sight (LOS) tracking control is employed to handle the underactuation of AUVs. The unknown dynamics of the AUVs are approximated by adaptive neural networks (NNs). The serial-parallel estimation models are built to obtain the prediction errors. Both the prediction errors and the tracking errors are employed to design the composite weights updating law. Nonlinear disturbance observers based on composite learning control are constructed to estimate time-varying disturbances. The stability analysis via the Lyapunov method indicates that the uniformly ultimate boundedness of all signals of the AUV trajectory tracking close-loop control system. The simulation results on an AUV verify the effectiveness and the superiority of the proposed composite learning tracking control scheme.

引用

页数：12

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