Computer Engineering and Applications ›› 2019, Vol. 55 ›› Issue (17): 266-270.

Robust Adaptive Attitude Control Algorithm for Autonomous Underwater Vehicle

JIANG Yunbiao, GUO Chen, YU Haomiao

1. School of Marine Electrical Engineering, Dalian Maritime University, Dalian, Liaoning 116026, China
• Online:2019-09-01 Published:2019-08-30

自主水下航行器的鲁棒自适应姿态控制算法

1. 大连海事大学 船舶电气工程学院，辽宁 大连 116026

Abstract: For the attitude control problem of Autonomous Underwater Vehicle（AUV） in automatic cruise task, a robust adaptive attitude control algorithm based on neural network and sliding mode control is proposed. The RBF neural network is used to approximate the uncertain terms in the mathematical model of AUV, and the influence of unmodeled dynamics and parameter perturbation is suppressed. Then, the attitude control law is designed based on the backstepping and sliding mode control, and the robust term is introduced to overcome the external disturbance and approximation error of neural network. Meanwhile, the stability of the control system is proved by Lyapunov theorem. The proposed control algorithm is applied to the attitude control system of an AUV for numerical simulation, and the effectiveness and robustness of the control algorithm are verified.