%0 Journal Article
%T Depth-keeping control for autonomous underwater vehicle in vertical plane using adaptive output feedback controller<br>垂直面欠驱动自治水下机器人定深问题的自适应输出反馈控制
%A ZHANG Li-jun
%A QI Xue
%A ZHAO Jie-mei
%A PANG Yong-jie
%A <br>张利军
%A 齐雪
%A 赵杰梅
%A 庞永杰
%J 控制理论与应用
%D 2012
%I 
%X To keep the depth of an autonomous underwater vehicle (AUV) in a vertical plane, we design an adaptive output feedback controller based on the backstepping technique, using the information of measurable depth and the pitch angle. To achieve this objective, an observer is built to implement the feedback of the immeasurable velocity of the pitch angle. A radial basis neural network is adopted to compensate the nonlinear effects produced by the uncertain hydrodynamic coefficients as well as the coupling velocities of surge, dive, and pitch angle. An adaptive strategy is used to inhibit the disturbance from the velocity of surge and dive. A first-order incomplete model of AUV is employed without linearization; this relaxes the restriction on the variation range of the pitch angle. Theoretical analysis and simulation experiment results show that the proposed method implements the control of depth and altitude of the AUV with high adaptability and strong robustness for the unordered nonlinear dynamics and bounded disturbances.
%K autonomous underwater vehicles
%K radial basis neural network
%K adaptive output feedback
%K backstepping<br>水下机器人
%K 径向基神经网络
%K 自适应输出反馈
%K 反步法
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=970898A57DFC021F93AB51667BAED7F7&aid=704C627F8D202D59078998D736E977BB&yid=99E9153A83D4CB11&vid=771469D9D58C34FF&iid=F3090AE9B60B7ED1&sid=40DE18199B7CA9BB&eid=FFFB69BAAED96604&journal_id=1000-8152&journal_name=控制理论与应用&referenced_num=0&reference_num=0