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题名: A neural network based adaptive control scheme for underwater vehicles with an observer
作者: Xing ZW(邢志伟) ; Gao JS(高建树) ; Wang LW(王立文) ; Feng XS(封锡盛)
作者部门: 水下机器人研究室
会议名称: 5th World Congress on Intelligent Control and Automation
会议日期: June 15-19, 2004
会议地点: Hangzhou. P.R. China
会议主办者: IEEE
会议录: Proceedings of the 5th World Congress on Intelligent Control and Automation
会议录出版者: IEEE
会议录出版地: New York
出版日期: 2004
页码: 4996-5000
收录类别: EI
ISBN号:  0-7803-8273-0
关键词: Adaptive Conlrol ; Neural netnwrk ; Observer ; Underwater vehicles
摘要: Observer-based Neural Network Adaptive Control Scheme (OBNC) for underwater vehicles is proposed in this paper. Three parts compose the scheme: output feedback control, neural network and sliding mode item. Where, the output feedback control is used to guarantee the stability of the system in initial phase, and the neural network is used to approximate the nonlinear dynamics of underwater vehicles and the sliding mode item is used to compensate and bate the disturbances coming from internal and external. A linear observer is designed to estimate the corresponding rate and the control system is designed with only position measurement. The stability conditions and attraction region of the proposed scheme is provided by using lyapunov-based approach. The effective of the proposed control scheme is demonstrated by pool experiment.
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/9203
Appears in Collections:水下机器人研究室_会议论文

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