Three-dimensional path tracking control for an autonomous underwater vehicle based on L-two disturbance attenuation method
Three-dimensional path tracking control for an autonomous underwater vehicle based on L-two disturbance attenuation method
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发表时间：
2011-05
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通讯作者：
Li-Jun Zhang;Heming Jia;X. Bian;Zheping Yan;Xiang-qin Cheng
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作者：
Li-Jun Zhang;Heming Jia;X. Bian;Zheping Yan;Xiang-qin Cheng
在自主水下航行器（AUV）的三维路径跟踪中，考虑了外部电流干扰和水下航行器的非线性水动力阻尼效应，提出了一种基于Lyapunov稳定性理论的鲁棒神经网络控制，用于l - 2干扰的衰减。设计了一种神经网络控制器来补偿非线性水动力阻尼和外部电流干扰，并通过l - 2干扰衰减控制器将神经网络的估计误差作为外部干扰消除。对实验水下航行器进行了三维路径跟踪仿真。仿真结果表明，所设计的控制器能有效地抑制时变非线性水动力阻尼对水下机器人系统的影响，并能有效地减弱外部电流干扰。
In the three-dimensional path tracking of an autonomous underwater vehicle(AUV),we consider the external current disturbances and the nonlinear hydrodynamic damping effects of the AUV,and propose a robust neural network control based on Lyapunov stability theory for L-two disturbance attenuation.A neural network controller is designed to compensate for the nonlinear hydrodynamic damping and external currents disturbances,and the estimated error of neural network is eliminated as external disturbances in AUV system by the L-two disturbance attenuation controller.A three-dimensional path tracking simulation is carried out for an experimental AUV.The simulation results show that the designed controller suppresses the influence of time-varying nonlinear hydrodynamic damping to the AUV system,and attenuates the external currents disturbances as well.