Design of ROV Adaptive Sliding Mode Control System for Underwater Vehicle Based on RBF Neural Network

被引：0
|
作者：
Chen, Wei [1 ]
Hu, Shilin [1 ]
Wei, Qingyu [1 ]
机构：
[1] Jiangsu Univ Sci & Technol, Sch Elect & Informat, Zhenjiang 212000, Jiangsu, Peoples R China
来源：
PROCEEDINGS OF THE 33RD CHINESE CONTROL AND DECISION CONFERENCE (CCDC 2021) | 2021年
基金：
中国国家自然科学基金;
关键词：
ROV; Control System; Sliding Mode Controller; RBF neural network;
D O I：
10.1109/CCDC52312.2021.9602771
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The dynamic positioning control of ROV near the water surface under wave disturbance is still a challenging problem. The principle of sliding mode control and the method of approximating unknown function by RBF neural network are studied. The adaptive sliding mode controller of RBF neural network is designed. The stability and convergence of the proposed algorithm are deduced and verified, and compared with the simulation results of traditional adaptive sliding mode control methods.The simulation results show that the ROV's trajectory tracking effect is good in the wave disturbance environment. The experimental results prove the effectiveness of the method and achieved satisfactory performance.
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页码：2976 / 2981
页数：6
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