Neural network predictive control for autonomous underwater vehicle with input delay (Q1629480)
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scientific article; zbMATH DE number 6992123
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Neural network predictive control for autonomous underwater vehicle with input delay |
scientific article; zbMATH DE number 6992123 |
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Neural network predictive control for autonomous underwater vehicle with input delay (English)
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12 December 2018
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Summary: A path tracking controller is designed for an Autonomous Underwater Vehicle (AUV) with input delay based on Neural Network (NN) predictive control algorithm. To compensate for the time-delay in control system and realize the purpose of path tracking, a predictive control algorithm is proposed. An NN is used to estimate the nonlinear uncertainty of AUV induced by hydrodynamic coefficients and the coupling of the surge, sway, and yaw angular velocity. By Lyapunov theorem, stability analysis is also given. Simulation results show the effectiveness of the proposed control strategy.
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autonomous underwater vehicle
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neural network
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predictive control
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stability
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