Advanced neural control technique for autonomous underwater vehicles using modified integral barrier Lyapunov function

• Published in: Ocean engineering Vol. 266; p. 112842
• Main Authors: Thanh, Pham Nguyen Nhut, Anh, Ho Pham Huy
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 15.12.2022
• Subjects: Adaptive neural control technique; Autonomous underwater vehicles (AUV); Depth precision control; Extended disturbance observer (EDO); Input constraint; Modified integral barrier Lyapunov function (mIBLF); Extended disturbance observer (EDO); Depth precision control; Adaptive neural control technique; Input constraint; Autonomous underwater vehicles (AUV); Modified integral barrier Lyapunov function (mIBLF)

This paper presents a novel approach for depth precision control of under-actuated autonomous underwater vehicles (AUV) subject to model uncertainties, ocean currents, and input constraints. Specifically, a transformation is made to convert the input constraint problem into a state constraint proble...