Double-Loop PID-Type Neural Network Sliding Mode Control of an Uncertain Autonomous Underwater Vehicle Model Based on a Nonlinear High-Order Observer with Unknown Disturbance

Double-Loop PID-Type Neural Network Sliding Mode Control of an Uncertain Autonomous Underwater Vehicle Model Based on a Nonlinear High-Order Observer with Unknown Disturbance

An unknown nonlinear disturbance seriously affects the trajectory tracking of autonomous underwater vehicles (AUVs). Thus, it is critical to eliminate the influence of such disturbances on AUVs. To address this problem, this paper proposes a double-loop proportional–integral–differential (PID) neura...

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Bibliographic Details
Main Authors: Jiajian Liang, Wenkai Huang, Fobao Zhou, Jiaqiao Liang, Guojian Lin, Endong Xiao, Hongquan Li, Xiaolin Zhang
Format: Article
Language:English
Published: MDPI AG 2022-09-01
Series:Mathematics
Subjects:
autonomous underwater vehicles (AUVs)
PID sliding mode surface
neural network
observer
sliding mode control
Online Access:https://www.mdpi.com/2227-7390/10/18/3332

Internet

https://www.mdpi.com/2227-7390/10/18/3332

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