A LSSVR Interactive Network for AUV Motion Control Article Swipe
Chunmeng Jiang
,
Lei Wan
,
Hongrui Zhang
,
J. Tang
,
Jianguo Wang
,
Shupeng Li
,
Long Chen
,
Gongxing Wu
,
Bin He
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/jmse11061111
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/jmse11061111
In view of the requirements on control precision of autonomous underwater vehicles (AUVs) in different operations, the improvement of AUV motion control accuracy is the focus of this paper. In regard to the unsatisfying robustness of traditional control methods, an interactive network based on Least Square Support Vector Regression (LSSVR) is therefore put forward. The network completed the identification of the strong nonlinear AUV dynamic characteristics based on the LSSVR theory and by virtue of the interactions between the offline and online modules, it achieved offline design and online optimization of the AUV control law. In addition to contrastive numerical simulations and sea trials with the classic S-plane method in AUV velocity and heading control, the LSSVR network was also tested in path following and long-range cruise. The precision and robustness and of the proposed network were verified by the high-accuracy control results of the aforesaid simulations and trials. The network can be of practical use in AUV control especially under unfamiliar water conditions with access to a limited number of control samples or little information of the operation site.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/jmse11061111
- https://www.mdpi.com/2077-1312/11/6/1111/pdf?version=1686035445
- OA Status
- gold
- Cited By
- 5
- References
- 59
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4378228055
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W4378228055Canonical identifier for this work in OpenAlex
- DOI
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https://doi.org/10.3390/jmse11061111Digital Object Identifier
- Title
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A LSSVR Interactive Network for AUV Motion ControlWork title
- Type
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articleOpenAlex work type
- Language
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enPrimary language
- Publication year
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2023Year of publication
- Publication date
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2023-05-24Full publication date if available
- Authors
-
Chunmeng Jiang, Lei Wan, Hongrui Zhang, J. Tang, Jianguo Wang, Shupeng Li, Long Chen, Gongxing Wu, Bin HeList of authors in order
- Landing page
-
https://doi.org/10.3390/jmse11061111Publisher landing page
- PDF URL
-
https://www.mdpi.com/2077-1312/11/6/1111/pdf?version=1686035445Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://www.mdpi.com/2077-1312/11/6/1111/pdf?version=1686035445Direct OA link when available
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Robustness (evolution), Computer science, Support vector machine, Control theory (sociology), Control engineering, Control (management), Artificial intelligence, Engineering, Biochemistry, Chemistry, GeneTop concepts (fields/topics) attached by OpenAlex
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5Total citation count in OpenAlex
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2024: 3, 2023: 2Per-year citation counts (last 5 years)
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59Number of works referenced by this work
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10Other works algorithmically related by OpenAlex
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