Neuroadaptive Sliding Mode Formation Control of Autonomous Underwater Vehicles With Uncertain Dynamics

This article investigates the leader-follower formation control problem for the multiple underactuated autonomous underwater vehicles with model uncertainties and external disturbances. Sliding mode control, multilayer neural network, and adaptive robust techniques are employed to design a formation...

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Veröffentlicht in:	IEEE systems journal 2020-09, Vol.14 (3), p.3325-3333
Hauptverfasser:	Wang, Jinqiang, Wang, Cong, Wei, Yingjie, Zhang, Chengju
Format:	Artikel
Sprache:	eng
Schlagworte:	Adaptation models Adaptive control Artificial neural networks autonomous underwater vehicle (AUV) Autonomous underwater vehicles Computer simulation Continuity (mathematics) Control stability Control systems Control systems design Controllers Disturbances formation control Hydrodynamic damping Mathematical models Multilayers neural network (NN) Neural networks Nickel Robustness (mathematics) Sliding mode control Stability analysis Uncertainty Vehicle dynamics Vehicles
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