A bio-inspired cascaded approach for three-dimensional tracking control of unmanned underwater vehicles1

International Journal of Robotics and Automation

Volumn 29, Issue 4, 2014, Pages 349-358

  Sun, Bing ^a   Zhu, Daqi ^a   Yang, Simon X ^b  

^a SHANGHAI MARITIME UNIVERSITY   (China)

^b UNIVERSITY OF GUELPH   (Canada)

Author keywords

Backstepping; Bio inspired model; Lyapunov stability theory; Sliding mode control; Tracking control; Unmanned underwater vehicles

Indexed keywords

AUTONOMOUS UNDERWATER VEHICLES; BACKSTEPPING; KINEMATICS; NAVIGATION; SLIDING MODE CONTROL; SYSTEM STABILITY;

BACK-STEPPING METHOD; BIO-INSPIRED MODELS; KINEMATIC CONTROLLER; LYAPUNOV STABILITY THEORY; ROBUST SLIDING MODE; THREE-DIMENSIONAL TRACKING; TRACKING CONTROLS; UNMANNED UNDERWATER VEHICLES;

CONTROLLERS;

EID: 84927936708     PISSN: 08268185     EISSN: None     Source Type: Journal    
DOI: 10.2316/Journal.206.2014.4.206-3891     Document Type: Article

References (30)

1. C.T. Cheng, K. Fallahi, H. Leung, and C.K. Tse, A genetic algorithm-inspired UUV path planner based on dynamic programming, IEEE Transactions on Systems, Man, and Cybernetics, Part C: Applications and Reviews, 42(6), 2012, 1128-1134.
2. M. Kuipers and P. Ioannou, Multiple model adaptive control with mixing, IEEE Transactions on Automatic Control, 55(8), 2010, 1822-1836.
3. B. Jiang, Z. Gao, P. Shi, and Y. Xu, Adaptive fault-tolerant tracking control of near-space vehicle using Takagi-Sugeno fuzzy models, IEEE Transactions on Fuzzy Systems, 18(5), 2010, 1000-1007.
4. M. Vaezi and M.A. Nekouie, Adaptive control of a robotic arm using neural networks based approach, International Journal of Robotics and Automation, 1(5), 2011, 87-99.
5. A.S. Matveev, H. Teimoori, and A.V. Savkin, Navigation of a unicycle-like mobile robot for environmental extremum seeking. Automatica, 47(1), 2011, 85-91.
6. F. Piltan, N. Sulaiman, A. Zare, and S. Allahdadi, Design adaptive fuzzy inference sliding mode algorithm: Applied to robot arm, International Journal of Robotics and Automation, 2(5), 2011, 283-297.
7. S. Peng, Y.Q. Xia, G.P. Liu, and D. Rees, On designing of sliding-mode control for stochastic jump systems, IEEE Transactions on Automatic Control, 51(1), 2006, 97-103.
8. M.J. Zhang and Z.Z. Chu, Adaptive sliding mode control based on local recurrent neural networks for underwater robot, Ocean Engineering, 45, 2012, 56-62.
9. L. Lapierre and B. Jouvencel, Robust nonlinear path-following control of an AUV, IEEE Journal of Oceanic Engineering, 33(2), 2008, 89-102.
10. Y.P. Zhang, B. Fidan, and P.A. Loannou, Backstepping control of linear time-varying systems with known and unknown parameters, IEEE Transactions on Automatic Control, 48(11), 2003, 1908-1925.
11. A. Caffaz, A. Caiti, G. Casalino, and A. Turetta, The hybrid glider/AUV folaga, IEEE Robotics & Automation Magazine, 17(1), 2010, 31-44.
12. C.Y. Tsai and K.T. Song, Visual tracking control of a wheeled mobile robot with system model and velocity quantization robustness, IEEE Transactions on Control Systems Technology, 17(3), 2009, 520-527.
13. O. Mohareri, R. Dhaouadi, and A.B. Rad, Indirect adaptive tracking control of a nonholonomic mobile robot via neural networks, Neurocomputing, 88(1), 2012, 54-66.
14. K. Ishaque, S.S. Abdullah, S.M. Ayob, and Z. Salam, A simplified approach to design fuzzy logic controller for an underwater vehicle, Ocean Engineering, 38(1), 2011, 271-284.
15. F. Piltan, N. Sulaiman, A. Gavahian, and S. Soltani, et al., Design mathematical tunable gain PID-like sliding mode fuzzy controller with minimum rule base, International Journal of Robotics and Automation, 2(3), 2011, 146-156.
16. G. Antonelli, S. Chiaverini, and G. Fusco, A fuzzy-logic-based approach for mobile robot path tracking, IEEE Transactions on Fuzzy Systems, 15(2), 2007, 211-221.
17. B. Miao, T. Li, and W. Luo, A DSC and MLP based robust adaptive NN tracking control for underwater vehicle, Neurocomputing, 111, 2013, 184-189.
18. A. Bagheri, T. Karimi, and N. Amanifard, Tracking performance control of a cable communicated underwater vehicle using adaptive neural network controllers, Applied Soft Computing, 10(3), 2010, 908-918.
19. R. Cui, B. Ren, and S.S. Ge, Synchronised tracking control of multi-agent system with high order dynamics, IET Control Theory & Applications, 6(5), 2012, 603-614.
20. C.Z. Pan, X.Z. Lai, S.X. Yang, and M. Wu, An efficient neural network approach to tracking control of an autonomous surface vehicle with unknown dynamics, Expert Systems with Applications, 40(5), 2012, 1629-1635.
21. S.X. Yang, A. Zhu, G.F. Yuan, and M.Q. Meng, A bioinspired neurodynamics-based approach to tracking control of mobile robots, IEEE Transactions on Industrial Electronics, 59(8), 2012, 3211-3220.
22. J.J. Ni and S.X. Yang, Bioinspired neural network for realtime cooperative hunting by multirobots in unknown environments, IEEE Transactions on Neural Networks, 22(12), 2011, 2062-2077.
23. C. Luo and S.X. Yang, A bio-inspired neural network for realtime concurrent map building and complete coverage robot navigation in unknown environment, IEEE Transactions on Neural Networks, 19(7), 2008, 1279-1298.
24. S. Soylu, B.J. Buckham, and R.P. Podhorodeski, A chatteringfree sliding-mode controller for underwater vehicles with faulttolerant infinity-norm thrust allocation, Ocean Engineering, 35(16), 2008, 1647-1659.
25. S. Grossberg, Nonlinear neural networks: Principles, mechanisms, and architectures, Neural Networks, 1(1), 1988, 17-61.
26. A.L. Hodgkin and A.F. Huxley, A quantitative description of membrane current and its application to conduction and excitation in nerve, The Journal of Physiology, 117(4), 1952, 500-544.
27. E. Omerdic and G. Roberts, Thruster fault diagnosis and accommodation for open-frame underwater vehicles, Control Engineering Practice, 12(12), 2004, 1575-1598.
28. B. Sun, D. Zhu, and S. Yang, A bio-inspired filtered backstepping tracking control of 7000m manned submarine vehicle, IEEE Transactions on Industrial Electronics, 61(7), 2014, 3682-3692.
29. D. Zhu and B. Sun, The bio-inspired model based hybrid slidingmode tracking control for unmanned underwater vehicles, Engineering Applications of Artificial Intelligence, 26(10), 2013, 2260-2269.
30. J.J.E. Slotine and W. Li, On the adaptive control of robot manipulators, The International Journal of Robotics Research, 6(3), 1987, 49-59.