文献类型：期刊文献

英文题名：Finite-time self-structuring neural network trajectory tracking control of underactuated autonomous underwater vehicles

作者：Liu, Haitao[1,2];Zhuo, Jiaoyang[1];Tian, Xuehong[1,2];Mai, Qingqun[1,2]

机构：[1]Guangdong Ocean Univ, Sch Mech Engn, Zhanjiang 524088, Peoples R China;[2]Guangdong Ocean Univ, Shenzhen Inst, Shenzhen 518120, Peoples R China

年份：2023

卷号：268

外文期刊名：OCEAN ENGINEERING

收录：SCI-EXPANDED(收录号：WOS:000910782900001)、、EI(收录号：20230213352419)、Scopus(收录号：2-s2.0-85145591185)、WOS

基金：This work was supported by the Key Project of the Department of Education of Guangdong Province [grant number 2021ZDZX1041] , the Shenzhen Science and Technology Program [grant number JCYJ20220530162014033] , and the Science and Technology Planning Project of Zhanjiang City [grant numbers 2021A05023 and 2021E05012] .

语种：英文

外文关键词：Finite-time control; Self-structuring neural networks; Trajectory tracking; Time-varying barrier lyapunov function; Underactuated autonomous underwater vehicle

外文摘要：A finite-time self-structuring neural network (SSNN) trajectory tracking control scheme is proposed for an input constrained underactuated autonomous underwater vehicle (AUV) with unknown external disturbances. First, a time-varying barrier Lyapunov function is proposed to constrain and prevent excessive consistency errors and reduce computational effort. Second, a finite-time controller is presented to achieve finite-time convergence of the closed-loop system, while dynamic surface control (DSC) is used to reduce the computational complexity of the system. Third, a finite-time SSNN method is developed to obtain the optimal number of neurons with simple computation and better approximation to estimate uncertain disturbances. Moreover, the Lyapunov stability proof indicates that all signals in the closed-loop system are ultimately bounded uniformly with respect to the initial constraints, and the trajectory tracking errors can converge to near zero in a finite time. Finally, simulations not only evaluate the performance of the proposed controller-controlled system but also verify the effectiveness of the methodology in this paper.