Path following control of discrete-time AUV with input-delay

Abstract

A path following control problem of discrete-time autonomous underwater vehicle (AUV) with input delay is studied. For solving the time-delay in control system, an neural network (NN) predictive control method is introduced. Since the velocities are very difficult to be accurately measured, here output feedback method is employed to overcome this problem. The stability analysis is given by Lyapunov theorem. Simulation results show the effectiveness of the proposed control strategy.