%0 Journal Article
%T Backstepping tracking control of autonomous underwater vehicles with bio-inspired neurdynamics model<br>生物启发神经动力学模型的自治水下机器人反步跟踪控制
%A ZHU Da-qi
%A YANG Rui-rui
%A <br>朱大奇
%A 杨蕊蕊
%J 控制理论与应用
%D 2012
%I 
%X A trajectory tracking control algorithm for autonomous underwater vehicles (AUV) with bio-inspired neurdynamics model is presented. The motion of AUV in three-dimensional space is divided into horizontal movement and vertical movement. To cope with the problem of speed jump in the traditional backstepping trajectory-tracking controller, we introduce an intermediate virtue variable to the bio-inspired neurdynamics model and make use of the Lyapunov function to develop the trajectory-tracking control law. We prove that the control is globally asymptotically stable in both horizontal plane and vertical plane. The simulation validates the correctness and effectiveness of the proposed control law.
%K autonomous underwater vehicles
%K a bio-inspired model
%K motion control
%K global asymptotically stable<br>自治水下机器人
%K 生物启发模型
%K 运动控制
%K 全局渐近稳定
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=704C627F8D202D59954C0744B6B1A815&yid=99E9153A83D4CB11&vid=771469D9D58C34FF&iid=F3090AE9B60B7ED1&sid=A2484BFF38B01808&eid=525C740F5A062BF4&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0