Path-Following Control of Autonomous Underwater Vehicles Subject to Velocity and Input Constraints via Neurodynamic Optimization

Zhouhua Peng; Jun Wang; Qing-Long Han

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Path-Following Control of Autonomous Underwater Vehicles Subject to Velocity and Input Constraints via Neurodynamic Optimization

机译：速度和输入约束下自主水下航行器的路径跟踪控制的神经动力学优化

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摘要

In this paper, a design method is presented for path-following control of underactuated autonomous underwater vehicles subject to velocity and input constraints, as well as internal and external disturbances. In the guidance loop, a kinematic control law

机译：本文提出了一种设计方法，用于在速度和输入约束以及内部和外部干扰的作用下，对欠驱动自动驾驶水下航行器进行路径跟踪控制。在制导回路中，运动控制定律

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来源
《IEEE Transactions on Industrial Electronics》 |2019年第11期|8724-8732|共9页
作者
Zhouhua Peng; Jun Wang; Qing-Long Han;
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作者单位

School of Marine Electrical Engineering Dalian Maritime University Dalian China;

Department of Computer Science City University of Hong Kong Kowloon Hong Kong;

School of Software and Electrical Engineering Swinburne University of Technology Melbourn;

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正文语种 eng
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关键词
Optimization; Surges; Kinetic theory; Neurodynamics; Kinematics; Autonomous underwater vehicles; Observers;

机译：优化;浪涌动力学理论;神经动力学;运动学自主水下航行器;观察员;

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1. Adaptive Fuzzy Sliding Mode Diving Control for Autonomous Underwater Vehicle with Input Constraint [J] . Zhenzhong Chu, Xianbo Xiang, Daqi Zhu, International Journal of Fuzzy Systems . 2018,第5期

机译：输入受限的水下机器人自适应模糊滑模潜水控制
2. Velocity free leader-follower formation control for autonomous underwater vehicles with line-of-sight range and angle constraints [J] . Gao Zhenyu, Guo Ge Information Sciences: An International Journal . 2019,第期

机译：自主水下车辆具有视线范围和角度约束的自主水下车辆速度
3. A Neurodynamics Control Strategy for Real-Time Tracking Control of Autonomous Underwater Vehicles [J] . Daqi Zhu, Xun Hua, Bing Sun The Journal of Navigation . 2014,第1期

机译：自主水下航行器实时跟踪控制的神经动力学控制策略
4. Control of an Autonomous Underwater Vehicle subject to robustness constraints [C] . Juan Luis Rosendo, Dominique Monnet, Benoit Clement, IFAC Symposium on Robust Control Design . 2018

机译：控制自主水下车辆受鲁棒性约束
5. Path Planning and Control System Design for Autonomous Underwater Vehicles Using a High-fidelity Underwater Simulator [D] . ?Walter-Cardinal, Helen 2020

机译：路径规划和使用高保真模拟水下自主水下航行器控制系统设计
6. Optimization of the Energy Consumption of Depth Tracking Control Based on Model Predictive Control for Autonomous Underwater Vehicles [O] . Feng Yao, Chao Yang, Mingjun Zhang, 2019

机译：基于模型预测控制的自动水下航行器深度跟踪控制能耗优化
7. Multiple input sliding mode control for autonomous diving and steering of underwater vehicles [O] . Hawkinson Todd D. 1990

机译：水下航行器自动潜水和转向的多输入滑模控制

Path-Following Control of Autonomous Underwater Vehicles Subject to Velocity and Input Constraints via Neurodynamic Optimization

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