Command filter based globally stable adaptive neural control for cooperative path following of multiple underactuated autonomous underwater vehicles with partial knowledge of the reference speed

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 海洋机器人卓越创新中心

	Command filter based globally stable adaptive neural control for cooperative path following of multiple underactuated autonomous underwater vehicles with partial knowledge of the reference speed
	Wang H(王昊); Liu KZ(刘开周); Li S(李硕)
刊名	Neurocomputing
	2018
卷号	275 页码:1478-1489
关键词	Cooperative Path Following Uncertainties Autonomous Underwater Vehicles Neural Networks
ISSN号	0925-2312
产权排序	1
英文摘要	This paper investigates the problem of cooperative path following for a fleet of underactuated autonomous underwater vehicles (AUVs) with uncertain nonlinear dynamics. Path following controllers for individual AUVs are developed to ensure that each AUV converges to the desired position. The coordination mission is completed by reaching synchronization on a suitably defined path variable, even in the presence of partial knowledge of the reference speed. The key features of the proposed cooperative path following design scheme can be summarized as follows. First, the command filter design technique based cooperative path following control strategy is derived by introducing compensating error signals to remove the requirement of the higher derivative of reference signal, and a simplified cooperative path following controller is proposed. Second, a smoothly switching function is designed to yield neural network (NN) based energy-efficient controller. Third, by designing the distributed speed estimator, the global knowledge of the reference speed is relaxed. Finally, all the signals in the closed-loop system are guaranteed to be globally uniformly ultimately bounded (GUUB) under the proposed algorithm, and the path following error is proven to converge to a small neighborhood of the origin. Simulation example is provided to validate the performance of the control strategy.
WOS关键词	DYNAMIC SURFACE CONTROL ; UNCERTAIN NONLINEAR-SYSTEMS ; OUTPUT-FEEDBACK CONTROL ; TRACKING CONTROL ; VESSELS ; LEADER ; ENVIRONMENTS ; NETWORKS ; ROBOTS ; FORM
WOS研究方向	Computer Science
语种	英语
WOS记录号	WOS:000418370200139
资助机构	National Key Research and Development Program of China under Grants 2016YFC0300801, 2016YFC0301600, 2016YFC0300604, 2017YFC0305901, and in part by the National Natural Science Foundation of China under Grants 61233013, 41376110, 41106085, and in part by the National HighTech Research and Development Program of China under Grant 2014AA09A110, and in part by the Public Science and Technology Research Funds Projects of Ocean under Grant 201505017, and in part by the Instrument Developing Project of the Chinese Academy of Sciences under Grant YZ201441, and in part by the Strategic Priority Research Program of the Chinese Academy of Sciences under Grant XDA13030203, and in part by the Youth Innovation Promotion Association CAS under Grant 2011161, and in part by the Laboratory Foundation of Science and Technology on Water Jet Propulsion under Grant 61422230302162223012, and in part by the Doctoral Scientific Research Foundation of Liaoning Province under Grant 201501035, and in part by the State Key Laboratory of Robotics under Grants 2016-Z02
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/21219]
专题	海洋机器人卓越创新中心
通讯作者	Li S(李硕)
作者单位	State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Wang H,Liu KZ,Li S. Command filter based globally stable adaptive neural control for cooperative path following of multiple underactuated autonomous underwater vehicles with partial knowledge of the reference speed[J]. Neurocomputing,2018,275:1478-1489.
APA	Wang H,Liu KZ,&Li S.(2018).Command filter based globally stable adaptive neural control for cooperative path following of multiple underactuated autonomous underwater vehicles with partial knowledge of the reference speed.Neurocomputing,275,1478-1489.
MLA	Wang H,et al."Command filter based globally stable adaptive neural control for cooperative path following of multiple underactuated autonomous underwater vehicles with partial knowledge of the reference speed".Neurocomputing 275(2018):1478-1489.