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题名: Globally stable adaptive cooperative path following controller design for multiple AUVs
作者: Wang H(王昊); Liu KZ(刘开周); Li S(李硕)
作者部门: 水下机器人研究室
会议名称: 3rd International Conference on Informative and Cybernetics for Computational Social Systems, ICCSS 2016
会议日期: August 26-29, 2016
会议地点: Jinzhou, Liaoning, China
会议主办者: International Federation of Automatic Control (IFAC); Liaoning University of Technology; University of Macau
会议录: 2016 3rd International Conference on Informative and Cybernetics for Computational Social Systems, ICCSS 2016
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2016
页码: 312-316
收录类别: EI
ISBN号: 978-1-5090-3367-6
摘要: The cooperative path following control problem for multiple autonomous underwater vehicles (AUVs) with uncertain nonlinear dynamics is considered in this paper. For individual AUV design, a nonlinear path following controller is developed to drive each one to follow the desired path while neural network (NN) based dynamic surface control (DSC) technique is injected. For cooperative control design, the path variables are synchronized by the tools of graph theory. The developed algorithm ensures the globally uniformly ultimately bounded (GUUB) stability of the closed-loop system. A simulation test is given to validate the control algorithm.
语种: 英语
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19408
Appears in Collections:水下机器人研究室_会议论文

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Recommended Citation:
Wang H,Liu KZ,Li S. Globally stable adaptive cooperative path following controller design for multiple AUVs[C]. 见:3rd International Conference on Informative and Cybernetics for Computational Social Systems, ICCSS 2016. Jinzhou, Liaoning, China. August 26-29, 2016.
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文件名: Globally stable adaptive cooperative path following controller design for multiple AUVs.pdf
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