UM
Neural Network Based Dynamic Surface Second Order Sliding Mode Control for AUVs
Zhang, Kai; Li, Tieshan; Li, Zifu; Chen, C. L. Philip; Sun, F; Liu, H; Hu, D
2017
Conference NameCOGNITIVE SYSTEMS AND SIGNAL PROCESSING, ICCSIP 2016
Volume710
Pages417-424
Publication PlaceHEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY
PublisherSPRINGER-VERLAG BERLIN
AbstractIn this paper, a novel neural network based dynamic surface second order sliding mode control algorithm is proposed for three-dimensional trajectory tracking control of autonomous underwater vehicles (AUVs) with modeling errors under external disturbances. The controller designed is capable of strengthening robustness of the system and attenuates inherent chattering of classical sliding mode control effectively. An innovative neural network compensator is designed to counteract effects of modeling errors, furthermore, the norm of the ideal weighting vector in neural network system is regarded as the estimated parameter, such that there is only one parameter needs to be adjusted. Meanwhile, the effect of external disturbances is handled by means of hyperbolic tangent function. As a result, the Lyapunov based stability analysis is provided to guarantee semi-global uniform boundedness of all closed-loop signals. Verification of the effectiveness of the proposed algorithm is done through simulation results.
KeywordAutonomous underwater vehicle (AUV) Trajectory tracking Dynamic surface control (DSC) Second order sliding mode control Neural network (NN) Hyperbolic tangent function
DOI10.1007/978-981-10-5230-9_41
URLView the original
Indexed ByCPCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence ; Computer Science, Theory & Methods
WOS IDWOS:000432311900041
The Source to ArticleWOS
Fulltext Access
Citation statistics
Document TypeConference paper
CollectionUniversity of Macau
Recommended Citation
GB/T 7714
Zhang, Kai,Li, Tieshan,Li, Zifu,et al. Neural Network Based Dynamic Surface Second Order Sliding Mode Control for AUVs[C]. HEIDELBERGER PLATZ 3, D-14197 BERLIN, GERMANY:SPRINGER-VERLAG BERLIN,2017:417-424.
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Zhang, Kai]'s Articles
[Li, Tieshan]'s Articles
[Li, Zifu]'s Articles
Baidu academic
Similar articles in Baidu academic
[Zhang, Kai]'s Articles
[Li, Tieshan]'s Articles
[Li, Zifu]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Zhang, Kai]'s Articles
[Li, Tieshan]'s Articles
[Li, Zifu]'s Articles
Terms of Use
No data!
Social Bookmark/Share
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.