Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay

Abstract

A path tracking controller is designed for an autonomous underwater vehicle (AUV) with input delay based on neural network (NN) predictive control algorithm. To compensate for the time-delay in control system and realize the purpose of path tracking, a predictive control algorithm is proposed. An NN is used to estimate the nonlinear uncertainty of AUV induced by hydrodynamic coefficients and the coupling of the surge, sway, and yaw angular velocity. By Lyapunov theorem, stability analysis is also given. Simulation results show the effectiveness of the proposed control strategy.