Design of fuzzy-neural-network-inherited backstepping control for unmanned underwater vehicle

Abstract

This paper presents a closed-loop trajectory tracking controller for an Unmanned Underwater Vehicle(UUV) with five degrees of freedom. A backstepping control (BSC) methodology combined with Lyapunov theorem is adopted to design the controller of trajectory tracking. Then an online-tuning fuzzy neural network (FNN) framework is chosen to inherit the conventional BSC law. Moreover, the adaptive parameters tuning laws are derived in the sense of Lyapunov stability theorem and projection algorithm to ensure the network convergence as well as stable control performance. Finally, the simulation results on UUV verify that an excellent performance of the proposed controller can be obtained.