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基于神经网络补偿的滑模控制在AUV运动中的应用
Alternative TitleNN compensation controller based on sliding mode control for AUV movement
周焕银; 刘开周; 封锡盛
Department水下机器人研究室
Source Publication计算机应用研究
ISSN1001-3695
2011
Volume28Issue:9Pages:3384-3386,3389
Indexed ByCSCD
CSCD IDCSCD:4357995
Contribution Rank1
Funding Organization中国科学院知识创新工程重要方向资助项目(YYYJ-0917); 国家重点基础研究资助项目(6138102008-4); 江西省教育厅科技资助项目(GJJ10171)
Keyword自主水下机器人 神经网络控制 滑模控制 半物理仿真 网络补偿 鲁棒性 滑模面 不确定性 补偿控制 收敛性
Abstract由于自主水下机器人水动力模型参数的不确定性及其强非线性,提出神经网络动态滑模面控制法。将系统分为确定与不确定部分,通过滑模控制实现对系统确定部分的控制,通过神经网络所具有的自适应调节能力实现对未知干扰与不确定部分进行补偿控制,提高系统的强鲁棒性。通过Lyapunov法验证了控制算法的收敛性; 通过MATLAB仿真平台和半物理仿真平台,验证了算法的鲁棒性和抗干扰性。
Other AbstractThis paper designed one algorithm of neural network(NN) dynamic feedback control coupled with sliding mode control for the movement of AUV.Decomposed the model of AUV of one known subsystem and one unknown subsystem.The fore part was controlled by sliding mode control theory which was performed by sliding mode control meanwhile the last one was actuated by ANN whose parameters were online adjustment.Proved theories and developed by Lyapunov theory which denoted that the tracking error could be converged to ...
Language中文
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/7434
Collection水下机器人研究室
Corresponding Author周焕银
Affiliation1.中国科学院沈阳自动化研究所机器人国家重点实验室
2.东华理工大学电信学院
3.中国科学院研究生院
Recommended Citation
GB/T 7714
周焕银,刘开周,封锡盛. 基于神经网络补偿的滑模控制在AUV运动中的应用[J]. 计算机应用研究,2011,28(9):3384-3386,3389.
APA 周焕银,刘开周,&封锡盛.(2011).基于神经网络补偿的滑模控制在AUV运动中的应用.计算机应用研究,28(9),3384-3386,3389.
MLA 周焕银,et al."基于神经网络补偿的滑模控制在AUV运动中的应用".计算机应用研究 28.9(2011):3384-3386,3389.
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