Research Papers

Neural Network-Based Tracking Control of Underactuated Autonomous Underwater Vehicles With Model Uncertainties

[+] Author and Article Information
Bong Seok Park

Department of Electronic Engineering,
University of Chosun,
Gwangju 501-759, Korea
e-mail: bspark@chosun.ac.kr

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 13, 2014; final manuscript received June 24, 2014; published online September 10, 2014. Assoc. Editor: Hashem Ashrafiuon.

J. Dyn. Sys., Meas., Control 137(2), 021004 (Sep 10, 2014) (7 pages) Paper No: DS-14-1016; doi: 10.1115/1.4027919 History: Received January 13, 2014; Revised June 24, 2014

In this paper, we propose a neural network (NN)-based tracking control method for underactuated autonomous underwater vehicles (AUVs) with model uncertainties. In order to solve the difficulties in designing the controller for underactuated AUVs, the additional virtual control input is developed, and the approach angle, which generates the desired yaw angle to track any reference trajectory, is introduced. Moreover, the NNs are used to deal with model uncertainties in the hydrodynamic damping terms of AUVs. Finally, the proposed controller is designed based on the dynamic surface control (DSC) method, and the boundedness of all tracking errors is proved by using the Lyapunov stability theory. Some simulation results demonstrate the performance of the proposed control method.

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Fig. 1

Control result for the trajectory

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Fig. 2

Tracking errors (solid: xe, dotted: ye, and dashed: ψe)

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Fig. 5

Estimation results (solid: ϕ∧u, dashed: ϕ∧v, and dotted: ϕ∧r)

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Fig. 6

L2 norms of weighting vectors (dashed: W∧1, solid: W∧2, and dotted: W∧3)




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