Neuro-control of unmanned underwater vehicles
International Journal of Systems Science
Neural network control of underwater vehicles
Engineering Applications of Artificial Intelligence
A neural network approach to complete coverage path planning
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
A Fuzzy-Logic-Based Approach for Mobile Robot Path Tracking
IEEE Transactions on Fuzzy Systems
Multilayer neural-net robot controller with guaranteed tracking performance
IEEE Transactions on Neural Networks
IEEE Transactions on Neural Networks
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In this paper a novel hybrid control strategy is developed for trajectory tracking control of unmanned underwater vehicle (UUV). The proposed hybrid control strategy consists of two subsystems: a virtual velocity controller and a sliding-mode controller. The tracking errors are shown to asymptotically converge to zero by Lyapunov stability theory using the new approach, whereas in the traditional backstepping method, speed jump occurs if the tracking error changes suddenly. The biologically inspired model is designed to smooth the virtual velocity controller output, avoid speed jumps of underwater vehicles and satisfy the thruster control constraint. The effectiveness and efficiency of the proposed control strategy are demonstrated through simulations and comparison studies.