APSO-MPC and NTSMC Cascade Control of Fully-Actuated Autonomous Underwater Vehicle Trajectory Tracking Based on RBF-NN Compensator

In this paper, a model predictive control (MPC) method optimized by an adaptive particle swarm optimization (APSO) algorithm is proposed. Combined with non-singular terminal sliding mode control (NTSMC), the inner and outer double-closed-loop control system is constructed to solve the fully actuated...

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Bibliographic Details

Published in:	Journal of Marine Science and Engineering
Main Authors:	Han Bao, Haitao Zhu, Xinfei Li, Jing Liu
Format:	Article
Language:	English
Published:	MDPI AG 2022-12-01
Subjects:	autonomous underwater vehicles predictive control trajectory tracking terminal sliding mode control neural network compensator
Online Access:	https://www.mdpi.com/2077-1312/10/12/1867