NN compensation controller based on sliding mode control for AUV movement
基于神经网络补偿的滑模控制在AUV运动中的应用*

This paper designed one algorithm of neural network (NN) dynamic feedback control coupled with sliding mode control for the movement of AUV. Decomposed the model of AUV of one known subsystem and one unknown subsystem. The fore part was controlled by sliding mode control theory which was performed by sliding mode control meanwhile the last one was actuated by ANN whose parameters were online adjustment. Proved theories and developed by Lyapunov theory which denoted that the tracking error could be converged to zero. Completed some simulation experiences by MATLAB platform and accomplished some virtual environment experiences with disturbance waves by the proposed algorithm. All these experiences achieve expected results, such as the desired depth control in the vertical plane and the ideal heading tracking in horizontal plane.