Journal of Dalian Maritime University >
2016 , Vol. 42 >Issue 1: 1 - 6
DOI: https://doi.org/10.16411/j.cnki.issn10067736.2016.01.001
Trajectory tracking for unmanned underwater vehicle based on fuzzy neural network
Received date: 2015-12-16
Revised date: 2016-01-14
Online published: 2016-01-15
To cope with the external disturbances for tracking unmanned underwater vehicles (UUV), a trajectory tracking sliding mode controller (SMC) was designed combining with Lyapunov stability theorem by defining a sliding surface. Considering the unconstructed dynamics existing in the UUV system, a fuzzy neural network (FNN) was employed to online approximate the ideal sliding mode control law without introducing any model parameters. Moreover, the adaptation laws for parameters of FNN were derived by the Lyapunov stability theorem and projection algorithm. Theoretical analysis proves that the asymptotical stability of overall closedloop control system, the boundedness of all signals and the tracking error and its first derivative converge to zero. Simulation tests verify the effectiveness of the proposed scheme.
LIU Yan-cheng , FU Yu-xin , WEN Yuan-quan , LIU Si-yuan , WANG Ning . Trajectory tracking for unmanned underwater vehicle based on fuzzy neural network[J]. Journal of Dalian Maritime University, 2016 , 42(1) : 1 -6 . DOI: 10.16411/j.cnki.issn10067736.2016.01.001
[1]陈佳,邢继峰.基于模糊自适应PID的潜艇深度控制[J].舰船科学技术,2011,33(2):56-60.
CHEN Jia,XING Ji-feng.Depth control of submarine based on fuzzy adaptive PID[J].Ship Science and Technology, 2011,33(2):56-60.(in Chinese)
[2]ERKAN K,ERDAL K.Adaptive neuro-fuzzy control of a spherical rolling robot using sliding mode control theory based online learning algorithm[J].IEEE Transactions on Cybernetics,2013,43(1):170-179.
[3]陈子印,王宏健,边信黔.基于反馈增益的AUV稳定神经网络反步变深控制[J].控制与决策,2013,28(3): 407-412.
CHEN Zi-yin,WANG Hong-jian,BIAN Xin-qian.Stable neural network backstepping for diving control of AUV based on feedback gain[J].Control and Decision,2013, 28(3):407-412.(in Chinese)
[4]汪伟,边信黔,王大海.AUV深度的模糊神经网络滑模控制[J].机器人,2003,25(3):209-212.
WANG Wei,BIAN Xin-qian,WANG Da-hai.Fuzzy neural network sliding-mode control of auto depth for AUV[J]. Robot,2003,25(3):209-212.(in Chinese)
[5]WAI Rong-jong,MUTHUSAMY R.Design of fuzzy-neural-network-inherited backstepping control for robot manipulator including actuator dynamics[J].IEEE Transactions on Fuzzy Systems,2014,22(4):709-722.
[6]林雷,任华彬,王洪瑞.基于模糊神经网络的机器人滑模自适应控制[J].控制工程,2007,14(5):532-539.
LIN Lei,REN Hua-bin,WANG Hong-rui.Sliding mode adaptive control for robots based on fuzzy neural net-works[J].Control Engineering of Chi-na,2007,14(5):532-539.(in Chinese)
[7]俞建成,张艾群,王晓辉,等.基于模糊神经网络水下机器人直接自适应控制[J].自动化学报,2007,33(8): 840-846.
YU Jian-Cheng,ZHANG Ai-Qun,WANG Xiao-Hui,et al. Direct adaptive control of underwater vehicles based on fuzzy neural networks[J].Acta Automatica Sinica,2007, 33(8):840-846.(in Chinese)
[8]FOSSEN T I.Marine control systems[M].Trondheim, Norway:Marine Cybernetics,2002:50-91.
[9]SLOTINE J J E,LI Wei-ping.Applied nonlinear con-trol[M].Englewood Cliffs,NJ:Prentice-Hall,1991:122-126.
/
| 〈 |
|
〉 |