Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay
A path tracking controller is designed for an autonomous underwater vehicle (AUV) with input delay based on neural network (NN) predictive control algorithm. To compensate for the time-delay in control system and realize the purpose of path tracking, a predictive control algorithm is proposed. An NN...
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| Format: | Article |
| Language: | English |
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Wiley
2018-01-01
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| Series: | Journal of Control Science and Engineering |
| Online Access: | http://dx.doi.org/10.1155/2018/2316957 |
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| _version_ | 1832565595830222848 |
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| author | Jiemei Zhao |
| author_facet | Jiemei Zhao |
| author_sort | Jiemei Zhao |
| collection | DOAJ |
| description | A path tracking controller is designed for an autonomous underwater vehicle (AUV) with input delay based on neural network (NN) predictive control algorithm. To compensate for the time-delay in control system and realize the purpose of path tracking, a predictive control algorithm is proposed. An NN is used to estimate the nonlinear uncertainty of AUV induced by hydrodynamic coefficients and the coupling of the surge, sway, and yaw angular velocity. By Lyapunov theorem, stability analysis is also given. Simulation results show the effectiveness of the proposed control strategy. |
| format | Article |
| id | doaj-art-9284ecfac21146368057d2dcfe2a58c9 |
| institution | Kabale University |
| issn | 1687-5249 1687-5257 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Control Science and Engineering |
| spelling | doaj-art-9284ecfac21146368057d2dcfe2a58c92025-02-03T01:07:12ZengWileyJournal of Control Science and Engineering1687-52491687-52572018-01-01201810.1155/2018/23169572316957Neural Network Predictive Control for Autonomous Underwater Vehicle with Input DelayJiemei Zhao0School of Mathematics and Computer Science, Wuhan Polytechnic University, Wuhan 430023, ChinaA path tracking controller is designed for an autonomous underwater vehicle (AUV) with input delay based on neural network (NN) predictive control algorithm. To compensate for the time-delay in control system and realize the purpose of path tracking, a predictive control algorithm is proposed. An NN is used to estimate the nonlinear uncertainty of AUV induced by hydrodynamic coefficients and the coupling of the surge, sway, and yaw angular velocity. By Lyapunov theorem, stability analysis is also given. Simulation results show the effectiveness of the proposed control strategy.http://dx.doi.org/10.1155/2018/2316957 |
| spellingShingle | Jiemei Zhao Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay Journal of Control Science and Engineering |
| title | Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay |
| title_full | Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay |
| title_fullStr | Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay |
| title_full_unstemmed | Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay |
| title_short | Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay |
| title_sort | neural network predictive control for autonomous underwater vehicle with input delay |
| url | http://dx.doi.org/10.1155/2018/2316957 |
| work_keys_str_mv | AT jiemeizhao neuralnetworkpredictivecontrolforautonomousunderwatervehiclewithinputdelay |