TY - JOUR A2 - Karimi, Hamid Reza AU - Zhou, Jiajia AU - Tang, Zhaodong AU - Zhang, Honghan AU - Jiao, Jianfang PY - 2013 DA - 2013/11/14 TI - Spatial Path Following for AUVs Using Adaptive Neural Network Controllers SP - 749689 VL - 2013 AB - The spatial path following control problem of autonomous underwater vehicles (AUVs) is addressed in this paper. In order to realize AUVs’ spatial path following control under systemic variations and ocean current, three adaptive neural network controllers which are based on the Lyapunov stability theorem are introduced to estimate uncertain parameters of the vehicle’s model and unknown current disturbances. These controllers are designed to guarantee that all the error states in the path following system are asymptotically stable. Simulation results demonstrated that the proposed controller was effective in reducing the path following error and was robust against the disturbances caused by vehicle's uncertainty and ocean currents. SN - 1024-123X UR - https://doi.org/10.1155/2013/749689 DO - 10.1155/2013/749689 JF - Mathematical Problems in Engineering PB - Hindawi Publishing Corporation KW - ER -