| 基于观测器的水下机器人神经网络稳定自适应控制 |
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| 引用本文： | 高建树,邢志伟,张宏波.基于观测器的水下机器人神经网络稳定自适应控制[J].机器人,2004,26(6):515-518. |
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| 作者姓名： | 高建树 邢志伟 张宏波 |
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| 作者单位： | 1. 中国民用航空学院,天津,300300;中国民航特种设备研究基地,天津,300300
2. 中国民用航空学院,天津,300300 |
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| 基金项目： | 中国科学院创新基金资助项目 (A0 1 0 60 3) |
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| 摘 要： | 给出了基于观测器的水下机器人神经网络自适应控制算法．控制算法由3部分组成：输出反馈控制、神经网络以及滑模项，其中输出反馈控制为了保证系统的初始稳定性；神经网络用于逼近系统的非线性动力学；滑模项用于补偿和抑制系统的外部扰动、神经网络逼近误差等．控制算法中所需要的速度量由状态观测器来提供．基于Lyapunov稳定理论给出了系统闭环稳定条件和稳定域．水池试验结果验证了算法的有效性．
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| 关 键 词： | 水下机器人 神经网络 控制 观测器 |
| 文章编号： | 1002-0446(2004)06-0515-04 |
| 收稿时间： | 2004-04-07 |
Observer-based Neural Network Adaptive Control of Underwater Vehicles |
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| GAO Jian shu ,XING Zhi wei ,ZHANG Hong bo.Observer-based Neural Network Adaptive Control of Underwater Vehicles[J].Robot,2004,26(6):515-518. |
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| Authors: | GAO Jian shu XING Zhi wei ZHANG Hong bo |
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| Affiliation: | GAO Jian shu 1,2,XING Zhi wei 1,2,ZHANG Hong bo 1 |
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| Abstract: | Observer based neural network adaptive control(OBNC) algorithm for underwater vehicles is provided in this paper. The algorithm is composed of three parts: output feedback control, neural network and sliding mode item. Among them, the output feedback control is used to guarantee the stability of the system in initial phase, the neural network is used to approach the nonlinear dynamics of underwater vehicles, and the sliding mode item is used to compensate and bate the internal and external disturbances. The stable conditions and attraction region of the proposed observer based NN control algorithm is provided with Lyapunov based approach. The effectiveness of this control scheme is demonstrated with pool experiment. |
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| Keywords: | underwater vehicles neural network control observer |
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