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Mathematical Problems in Engineering
Volume 2013, Article ID 749689, 9 pages
Research Article

Spatial Path Following for AUVs Using Adaptive Neural Network Controllers

College of Automation, Harbin Engineering University, Harbin 150001, China

Received 18 August 2013; Accepted 8 October 2013

Academic Editor: Hamid Reza Karimi

Copyright © 2013 Jiajia Zhou et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


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.