{"title":"Path following control of discrete-time AUV with input-delay","authors":"Jiemei Zhao, Zhonghui Hu","doi":"10.1109/CCDC.2017.7979318","DOIUrl":null,"url":null,"abstract":"A path following control problem of discrete-time autonomous underwater vehicle (AUV) with input delay is studied. For solving the time-delay in control system, an neural network (NN) predictive control method is introduced. Since the velocities are very difficult to be accurately measured, here output feedback method is employed to overcome this problem. The stability analysis is given by Lyapunov theorem. Simulation results show the effectiveness of the proposed control strategy.","PeriodicalId":6588,"journal":{"name":"2017 29th Chinese Control And Decision Conference (CCDC)","volume":"36 1","pages":"4648-4652"},"PeriodicalIF":0.0000,"publicationDate":"2017-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 29th Chinese Control And Decision Conference (CCDC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCDC.2017.7979318","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 2
Abstract
A path following control problem of discrete-time autonomous underwater vehicle (AUV) with input delay is studied. For solving the time-delay in control system, an neural network (NN) predictive control method is introduced. Since the velocities are very difficult to be accurately measured, here output feedback method is employed to overcome this problem. The stability analysis is given by Lyapunov theorem. Simulation results show the effectiveness of the proposed control strategy.
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