This paper proposes a design for a robust adaptive controller for the Dynamical Positioning (DP) of underwater vehicles with unknown hydrodynamic coefficients, unknown disturbances and input dead-zones. First, for convenience of controller design, the Multi-Input Multi-Output (MIMO) system is divided into several Single-Input Single-Output (SISO) systems. Next, a Dynamic Recurrent Fuzzy Neural Network (DRFNN) with feedback loops is employed to approximate the unknown portion of the controller, which can greatly reduce the number of neural network inputs. A fuzzy logic dead-zone compensator is designed to cope with the unknown dead-zone characteristics of actuators. The upper bounds of the approximation errors and disturbances of the network, which are often used in existing works, are not necessary in this paper due to the presentation of a special robust compensator. Stability analysis is conducted according to the Lyapunov theorem, and the tracking error is proved to converge to zero. Simulation results indicate that the proposed controller demonstrates good performance.
['Guoqing Xia', 'Chengcheng Pang', 'Jingjing Xue']
Fuzzy neural network-based robust adaptive control for dynamic positioning of underwater vehicles with input dead-zone