Neural network predictive control for autonomous underwater vehicle with input delay (Q1629480)
From MaRDI portal
scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Neural network predictive control for autonomous underwater vehicle with input delay |
scientific article |
Statements
Neural network predictive control for autonomous underwater vehicle with input delay (English)
0 references
12 December 2018
0 references
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.
0 references
autonomous underwater vehicle
0 references
neural network
0 references
predictive control
0 references
stability
0 references
0 references
0 references
