Spatial Path Following for AUVs Using Adaptive Neural Network Controllers
Joint Authors
Zhou, Jiajia
Tang, Zhaodong
Zhang, Honghan
Jiao, Jianfang
Source
Mathematical Problems in Engineering
Issue
Vol. 2013, Issue 2013 (31 Dec. 2013), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2013-11-14
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
The spatial path following control problem of autonomous underwater vehicles (AUVs) is addressed in this paper.
In order to realize AUVs’ spatial path following control under systemic variations and ocean current, three adaptive neural network controllers which are based on the Lyapunov stability theorem are introduced to estimate uncertain parameters of the vehicle’s model and unknown current disturbances.
These controllers are designed to guarantee that all the error states in the path following system are asymptotically stable.
Simulation results demonstrated that the proposed controller was effective in reducing the path following error and was robust against the disturbances caused by vehicle's uncertainty and ocean currents.
American Psychological Association (APA)
Zhou, Jiajia& Tang, Zhaodong& Zhang, Honghan& Jiao, Jianfang. 2013. Spatial Path Following for AUVs Using Adaptive Neural Network Controllers. Mathematical Problems in Engineering،Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1032136
Modern Language Association (MLA)
Zhou, Jiajia…[et al.]. Spatial Path Following for AUVs Using Adaptive Neural Network Controllers. Mathematical Problems in Engineering No. 2013 (2013), pp.1-9.
https://search.emarefa.net/detail/BIM-1032136
American Medical Association (AMA)
Zhou, Jiajia& Tang, Zhaodong& Zhang, Honghan& Jiao, Jianfang. Spatial Path Following for AUVs Using Adaptive Neural Network Controllers. Mathematical Problems in Engineering. 2013. Vol. 2013, no. 2013, pp.1-9.
https://search.emarefa.net/detail/BIM-1032136
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1032136