Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle

Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle

Abstract The trajectory tracking control problem is addressed for autonomous underwater vehicle (AUV) in marine environment, with presence of the influence of the uncertain factors including ocean current disturbance, dynamic modeling uncertainty, and thrust model errors. To improve the trajectory t...

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Bibliographic Details
Main Authors: Chao Yang, Feng Yao, Ming-Jun Zhang
Format: Article
Language:English
Published: SpringerOpen 2018-12-01
Series:Chinese Journal of Mechanical Engineering
Subjects:
Autonomous underwater vehicle (AUV)
Trajectory tracking
Neural networks
Backstepping method
Terminal sliding mode
Adaptive control
Online Access:http://link.springer.com/article/10.1186/s10033-018-0307-5

Internet

http://link.springer.com/article/10.1186/s10033-018-0307-5

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