| Title: | OS13-5 Neutral Networks-Based Adaptive Fixed-Time Consensus Tracking Control for Uncertain Multiple AUVs |
|---|---|
| Publication: | ICAROB2017 |
| Volume: | 22 |
| Pages: | 400-403 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2017.OS13-5 |
| Author(s): | Lin Zhao, Yingmin Jia, Jinpeng Yu |
| Publication Date: | January 19, 2017 |
| Keywords: | Multi-AUV systems, Terminal sliding mode, fixed-time stability, Neutral Networks |
| Abstract: | This paper is concerned with the fixed-time consensus tracking problem for multi-AUV (autonomous underwater vehicle) systems with uncertain parameters and external disturbances. Firstly, a fixed-time terminal sliding mode is proposed, which can avoid the singularity problem. Then, a continuous distributed consensus tracking control law is designed based on Neutral Network approximation technique, which can guarantee the consensus tracking errors converge to the desired regions in fixed time. A simulation example is given to show the effectiveness of proposed methods. |
| PDF File: | https://alife-robotics.co.jp/members2017/icarob/data/html/data/OS_pdf/OS13/OS13-5.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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