An Adaptive RBF-NMPC Architecture for Trajectory Tracking Control of Underwater Vehicles

An Adaptive RBF-NMPC Architecture for Trajectory Tracking Control of Underwater Vehicles

An adaptive control algorithm based on the RBF neural network (RBFNN) and nonlinear model predictive control (NMPC) is discussed for underwater vehicle trajectory tracking control. Firstly, in the off-line phase, the improved adaptive Levenberg–Marquardt-error surface compensation (IALM-ESC) algorit...

Full description

Bibliographic Details
Main Authors: Zhenzhong Chu, Da Wang, Fei Meng
Format: Article
Language:English
Published: MDPI AG 2021-05-01
Series:Machines
Subjects:
underwater vehicle
trajectory tracking
neural networks
nonlinear model predictive control
Online Access:https://www.mdpi.com/2075-1702/9/5/105

Internet

https://www.mdpi.com/2075-1702/9/5/105

Similar Items