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GLOBALLY STABLE ADAPTIVE DYNAMIC SURFACE CONTROL FOR COOPERATIVE PATH FOLLOWING OF MULTIPLE UNDERACTUATED AUTONOMOUS UNDERWATER VEHICLES
Wang H(王昊); Li YP(李一平); Liu KZ(刘开周)
作者部门海洋机器人卓越创新中心
关键词Cooperative Path Following Dynamic Surface Control Autonomous Underwater Vehicles Globally Stable Neural Networks Uncertainties
发表期刊Asian Journal of Control
ISSN1561-8625
2018
卷号20期号:3页码:1204-1220
收录类别SCI ; EI
EI收录号20182305273847
WOS记录号WOS:000434052200023
产权排序1
资助机构National Key Research and Development Program of China ; National Natural Science Foundation of China ; National HighTech Research and Development Program of China ; Public Science and Technology Research Funds Projects of Ocean ; Instrument Developing Project of the Chinese Academy of Sciences ; Strategic Priority Research Program of the Chinese Academy of Sciences ; Youth Innovation Promotion Association CAS ; Laboratory Foundation of Science and Technology on Water Jet Propulsion ; Doctoral Scientific Research Foundation of Liaoning Province ; State Key Laboratory of Robotics
摘要

The cooperative path following problem of multiple underactuated autonomous underwater vehicles (AUVs) involves two tasks. The first one is to force each AUV to converge to the desired parameterized path. The second one is to satisfy the requirement of a cooperative behavior along the paths. In this paper, both of the tasks have been further studied. For the first one, a simplified path following controller is proposed by incorporating the dynamic surface control (DSC) technique to avoid the calculation of derivatives of virtual control signals. Besides, in order to handle the uncertain dynamics, a new type of neural network (NN) adaptive controller is derived, and then an NN based energy efficient path following controller is firstly proposed, which consists of an adaptive neural controller dominating in the neural active region and an extra robust controller working outside the neural active region. For the second one, in order to reduce the amount of communications between multiple AUVs, a distributed estimator for the reference common speed is firstly proposed as determined by the communications topology adopted, which means the global knowledge of the reference speed is relaxed for the problem of cooperative path following. The overall algorithm ensures that all the signals in the closed-loop system are globally uniformly ultimately bounded (GUUB) and the output of the system converges to a small neighborhood of the reference trajectory by properly choosing the design parameters. Simulation results validate the performance and robustness of the proposed strategy.

语种英语
WOS类目Automation & Control Systems
关键词[WOS]UNCERTAIN NONLINEAR-SYSTEMS ; TRACKING CONTROL ; OUTPUT-FEEDBACK ; NEURAL-NETWORKS ; LEADER ; APPROXIMATORS ; VESSELS ; FORM
WOS研究方向Automation & Control Systems
资助项目National Key Research and Development Program of China[2016YFC0301600] ; National Key Research and Development Program of China[2016YFC0300604] ; National Key Research and Development Program of China[2016YFC0300801] ; National Key Research and Development Program of China[2017YFC0305901] ; National Natural Science Foundation of China[61233013] ; National Natural Science Foundation of China[41376110] ; National Natural Science Foundation of China[41106085] ; National HighTech Research and Development Program of China[2014AA09A110] ; Public Science and Technology Research Funds Projects of Ocean[201505017] ; Instrument Developing Project of the Chinese Academy of Sciences[YZ201441] ; Strategic Priority Research Program of the Chinese Academy of Sciences[XDA13030203] ; Youth Innovation Promotion Association CAS[2011161] ; Laboratory Foundation of Science and Technology on Water Jet Propulsion[61422230302162223012] ; Doctoral Scientific Research Foundation of Liaoning Province[201501035] ; State Key Laboratory of Robotics[2016-Z02] ; State Key Laboratory of Robotics[2015-Z09]
引用统计
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21386
专题海洋机器人卓越创新中心
通讯作者Liu KZ(刘开周)
作者单位State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 10016, China
推荐引用方式
GB/T 7714
Wang H,Li YP,Liu KZ. GLOBALLY STABLE ADAPTIVE DYNAMIC SURFACE CONTROL FOR COOPERATIVE PATH FOLLOWING OF MULTIPLE UNDERACTUATED AUTONOMOUS UNDERWATER VEHICLES[J]. Asian Journal of Control,2018,20(3):1204-1220.
APA Wang H,Li YP,&Liu KZ.(2018).GLOBALLY STABLE ADAPTIVE DYNAMIC SURFACE CONTROL FOR COOPERATIVE PATH FOLLOWING OF MULTIPLE UNDERACTUATED AUTONOMOUS UNDERWATER VEHICLES.Asian Journal of Control,20(3),1204-1220.
MLA Wang H,et al."GLOBALLY STABLE ADAPTIVE DYNAMIC SURFACE CONTROL FOR COOPERATIVE PATH FOLLOWING OF MULTIPLE UNDERACTUATED AUTONOMOUS UNDERWATER VEHICLES".Asian Journal of Control 20.3(2018):1204-1220.
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