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A practical design method is developed for path following and coordinated control of Autonomous Underwater Vehicles (AUVs). Each AUV is modeled by a system with time-varying parameters, unknown nonlinear dynamics and unknown disturbance. A robust adaptive distributed controller is designed for each AUV such that all AUVs ultimately synchronize to the desired paths with required formation. Moreover,...
The tracking control problem for a class of nonaffne uncertain discrete-time nonlinear systems is addressed. Firstly, a linear output feedback dynamic compensator is proposed to stabilize the linear portion of the tracking error system, and a discrete single-hidden-layer (SHL) neural network (NN) controller is introduced to cancel the inversion error. NN learn though the recursive weight update rules...
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