International Journal of Computational Intelligence Systems

Volume 3, Issue 5, October 2010, Pages 646 - 655

Robust Adaptive Tracking Control of the Underwater Robot with Input Nonlinearity Using Neural Networks

Authors
Mou Chen, Bin Jiang, Jie Zou, Xing Feng
Corresponding Author
Mou Chen
Received 19 October 2009, Accepted 31 May 2010, Available Online 1 October 2010.
DOI
10.2991/ijcis.2010.3.5.13How to use a DOI?
Keywords
Underwater robots, saturation, dead-zone, tracking control, backstepping control
Abstract

In this paper, robust adaptive tracking control is proposed for the underwater robot in the presence of parametric uncertainties and unknown external disturbances. Backstepping control of the system dynamics is introduced to develop full state feedback tracking control. Using parameter adaptation, backstepping control and variable structure based techniques, the robust adaptive tracking control is presented for underwater robots to handle the uncertainties, saturation and dead-zone characteristics of actuators. Actuator nonlinearities comprising of dead-zone and saturation are explicitly considered in the tracking control design. Under the proposed tracking control, semi-global uniform boundedness of the closed-loop signals is guaranteed via Lyapunov analysis. Numerical simulation results are given to illustrate the effectiveness of the proposed robust adaptive tracking control.

Copyright
© 2010, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Download article (PDF)

Journal
International Journal of Computational Intelligence Systems
Volume-Issue
3 - 5
Pages
646 - 655
Publication Date
2010/10/01
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.2991/ijcis.2010.3.5.13How to use a DOI?
Copyright
© 2010, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - JOUR
AU  - Mou Chen
AU  - Bin Jiang
AU  - Jie Zou
AU  - Xing Feng
PY  - 2010
DA  - 2010/10/01
TI  - Robust Adaptive Tracking Control of the Underwater Robot with Input Nonlinearity Using Neural Networks
JO  - International Journal of Computational Intelligence Systems
SP  - 646
EP  - 655
VL  - 3
IS  - 5
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.2010.3.5.13
DO  - 10.2991/ijcis.2010.3.5.13
ID  - Chen2010
ER  -