Spatial Path Following for AUVs Using Adaptive Neural Network Controllers

Mathematical Problems in Engineering. 2013;2013 DOI 10.1155/2013/749689

 

Journal Homepage

Journal Title: Mathematical Problems in Engineering

ISSN: 1024-123X (Print); 1563-5147 (Online)

Publisher: Hindawi Limited

LCC Subject Category: Technology: Engineering (General). Civil engineering (General) | Science: Mathematics

Country of publisher: United Kingdom

Language of fulltext: English

Full-text formats available: PDF, HTML, ePUB, XML

 

AUTHORS


Jiajia Zhou (College of Automation, Harbin Engineering University, Harbin 150001, China)

Zhaodong Tang (College of Automation, Harbin Engineering University, Harbin 150001, China)

Honghan Zhang (College of Automation, Harbin Engineering University, Harbin 150001, China)

Jianfang Jiao (College of Automation, Harbin Engineering University, Harbin 150001, China)

EDITORIAL INFORMATION

Blind peer review

Editorial Board

Instructions for authors

Time From Submission to Publication: 26 weeks

 

Abstract | Full Text

The spatial path following control problem of autonomous underwater vehicles (AUVs) is addressed in this paper. In order to realize AUVs’ spatial path following control under systemic variations and ocean current, three adaptive neural network controllers which are based on the Lyapunov stability theorem are introduced to estimate uncertain parameters of the vehicle’s model and unknown current disturbances. These controllers are designed to guarantee that all the error states in the path following system are asymptotically stable. Simulation results demonstrated that the proposed controller was effective in reducing the path following error and was robust against the disturbances caused by vehicle's uncertainty and ocean currents.