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首页> 外文会议>OCEANS 2011 >NN-backstepping for diving control of an underactuated AUV
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NN-backstepping for diving control of an underactuated AUV

机译：NN反推用于欠驱动AUV的潜水控制

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This paper develops a path following controller for an AUV in vertical plane. With the given tracking error expressed in Serret-Frenet frame, a backstepping method based on feedback gain is adopted rather than directly nonlinear cancellation or feedback linearization. An adaptive neural network (NN) compensator is introduced due to the dynamics of AUV are highly nonlinear and the hydrodynamic coefficients are difficult to be accurately estimated at priori. The network weights adaptation law is derived from the Lyapunov stability analysis, and the resulting nonlinear feedback control scheme can guarantee that all the signals in the closed loop system are uniformly ultimately bounded (UUB). The simulation results demonstrate the effectiveness of proposed method with INFANTE AUV model.
机译：本文开发了一种在垂直平面上用于AUV的路径跟随控制器。在给定的跟踪误差以Serret-Frenet帧表示的情况下，采用基于反馈增益的反推方法，而不是直接进行非线性抵消或反馈线性化。引入自适应神经网络（NN）补偿器，因为AUV的动力学是高度非线性的，并且流体力学系数很难先验准确地估计。网络权重自适应定律是从Lyapunov稳定性分析中得出的，由此产生的非线性反馈控制方案可以确保闭环系统中的所有信号均最终受到统一限制（UUB）。仿真结果证明了该方法在INFANTE AUV模型中的有效性。

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