Trajectory Tracking Control for an Underwater Vehicle Manipulator System Using a Neural-adaptive Network

被引：3
|
作者：
Wang, Jiliang [1 ]
Perkins, Edmon [2 ]
Hung, John Y. [1 ]
机构：
[1] Auburn Univ, Dept Elect & Comp Engn, Auburn, AL 36849 USA
[2] Auburn Univ, Dept Mech Engn, Auburn, AL 36849 USA
来源：
2019 IEEE SOUTHEASTCON | 2019年
关键词：
Adaptive control; Neural network; Trajectory tracking control; UVMS;
D O I：
10.1109/southeastcon42311.2019.9020372
中图分类号：
TP301 [理论、方法];
学科分类号：
081202 ;
摘要：
A neural-adaptive trajectory tracking control strategy is proposed for an underwater vehicle manipulator system (UVMS). A feedback term based on a nominal dynamic model is used, and an adaptive neural network is utilized to approximate parametric uncertainties. The performance of this control scheme is demonstrated by applying it to a specific trajectory tracking task. The simulation results showed that the controller has a good performance under parametric uncertainty situations.
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收藏
页数：6
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