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Design of Fuzzy-Neural-Network-Inherited Backstepping Control for Unmanned Underwater Vehicle

  • Yuxin Fu
  • Yancheng Liu
  • Siyuan Liu
  • Ning Wang
  • Chuan Wang
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9377)

Abstract

This paper presents a closed-loop trajectory tracking controller for an Unmanned Underwater Vehicle(UUV) with five degrees of freedom. A backstepping control (BSC) methodology combined with Lyapunov theorem is adopted to design the controller of trajectory tracking. Then an online-tuning fuzzy neural network (FNN) framework is chosen to inherit the conventional BSC law. Moreover, the adaptive parameters tuning laws are derived in the sense of Lyapunov stability theorem and projection algorithm to ensure the network convergence as well as stable control performance. Finally, the simulation results on UUV verify that an excellent performance of the proposed controller can be obtained.

Keywords

trajectory tracking controller Unmanned Underwater Vehicle (UUV) backstepping control (BSC) fuzzy neural network (FNN) 

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Copyright information

© Springer International Publishing Switzerland 2015

<SimplePara><Emphasis Type="Bold">Open Access</Emphasis> This chapter is licensed under the terms of the Creative Commons Attribution-NonCommercial 2.5 International License (http://creativecommons.org/licenses/by-nc/2.5/), which permits any noncommercial use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made. </SimplePara> <SimplePara>The images or other third party material in this chapter are included in the chapter's Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the chapter's Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder.</SimplePara>

Authors and Affiliations

  • Yuxin Fu
    • 1
  • Yancheng Liu
    • 1
  • Siyuan Liu
    • 1
  • Ning Wang
    • 1
  • Chuan Wang
    • 1
  1. 1.Maritime Engineering CollegeDalian Maritime UniversityDalianChina

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