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首页> 外文期刊>Applied Ocean Research >Sliding mode based neural adaptive formation control of underactuated AUVs with leader-follower strategy
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Sliding mode based neural adaptive formation control of underactuated AUVs with leader-follower strategy

机译：基于滑动模式的欠压AUV与领导者 - 跟随策略的滑模基于神经自适应控制

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摘要

In this brief, the leader-follower formation control of underactuated autonomous underwater vehicles subject to uncertain dynamics and ocean disturbances is addressed. A robust sliding mode formation control strategy is presented by utilizing backstepping method, adaptive neural network and dynamic surface control technique. The stability of the formation control system is proved based on the Lyapunov's direct method where all the signals are guaranteed to be uniformly ultimately bounded. The main advantages of this control strategy are summarized as: (i) the presented controller only depends on the position measurements of the leader, which is more convenient to implement in practice. (ii) the proposed controller does not require any prior knowledge about the hydrodynamic damping and disturbances from the environment. (iii) a continuous PI function is designed to avoid the effect of inherent chattering in standard sliding mode control. (iv) the computational explosion of the standard backstepping method is avoided by the command filter based on the dynamic surface control technique. At last, the comparative simulations are provided to verify the effectiveness of the presented control strategy.
机译：在此简介中，解决了受不确定动态和海洋障碍的欠渎自动水下车辆的领导者 - 追随者的形成控制。通过利用BackStepping方法，自适应神经网络和动态表面控制技术来提出鲁棒滑模形成控制策略。基于Lyapunov的直接方法证明了地层控制系统的稳定性，其中所有信号都保证均匀最终界定。该控制策略的主要优点总结为：（i）所提出的控制器仅取决于领导者的位置测量，在实践中实施更方便。 （ii）拟议的控制器不需要任何关于环境中流体动力学阻尼和扰动的知识。 （iii）旨在避免固有抖动在标准滑模控制中的固有抖动的效果。 （iv）基于动态表面控制技术，通过命令滤波器避免了标准背击方法的计算爆炸。最后，提供了比较仿真来验证所提供的控制策略的有效性。

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