Adaptive sliding mode control based on local recurrent neural networks for underwater robot

• Published in: Ocean engineering Vol. 45; pp. 56 - 62
• Main Authors: Zhang, Ming-jun, Chu, Zhen-zhong
• Format: Journal Article
• Language: English
• Published: Kidlington Elsevier Ltd 01.05.2012; Elsevier
• Subjects: Adaptive control; Applied sciences; Computer science; control theory; systems; Control theory. Systems; Exact sciences and technology; Neural networks; Robotics; Sliding mode control; Trajectory tracking; Underwater robot; Trajectory tracking; Neural networks; Adaptive control; Sliding mode control; Underwater robot; Tracking; Stability; Sliding mode; Underwater; System design; Neural network; Controller; Experimental study; Modeling; Trajectory; Robot

The trajectory tracking control problem of underwater robot is addressed in this paper. In general, an accurate thrust modeling is very difficult to establish for underwater robot in practice. Hence, the control voltage of thruster is designed directly as the input of system by the controller in thi...