Improved SSA‐RBF neural network‐based dynamic 3‐D trajectory tracking model predictive control of autonomous underwater vehicles with external disturbances
Han Bao,
Haitao Zhu,
Di Liu
Abstract:This paper studies the three‐dimensional (3‐D) dynamic trajectory tracking control of an autonomous underwater vehicle (AUV). As AUV is a typical nonlinear system, each degree of freedom is strongly coupled, so the traditional control method based on the nominal model of AUV cannot guarantee the accuracy of the control system. To solve this problem, we first propose a prediction model based on a radial basis function neural network (RBF‐NN). The nonlinearity of AUV is learned and modeled offline by RBF‐NN base… Show more
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