期刊名称：International Journal of Computer Science & Applications
印刷版ISSN：0972-9038
出版年度：2007
卷号：IV
期号：III
页码：107-118
出版社：Technomathematics Research Foundation
摘要：This paper studies the design and application of the neural network based adaptive control scheme for autonomous
underwater vehicle's (AUV's) depth control system that is an uncertain nonlinear dynamical one with unknown
nonlinearities. The unknown nonlinearity is approximated by a feedforward neural network whose parameters are
adaptively adjusted on-line according to a set of parameter estimation laws for the purpose of driving the AUV to
cruise at the preset depth. The Lyapunov synthesis approach is used to develop the adaptive control scheme. The
control law consists two parts: One is the certainty equivalent control and the other serves to compensate the neural
network approximation error. The overall control system can guarantee that the tracking error converges in the small
neighborhood of zero and all adjustable parameters involved are uniformly bounded. Simulation examples are given
to illustrate the design procedure and the applicability of the proposed method. The results indicate that the proposed
method is suitable for practical applications.
