Adaptive Predefined-Time Optimal Tracking Control for Underactuated Autonomous Underwater Vehicles

Abstract

Dear Editor, This letter concentrated on the adaptive predefined-time optimal tracking control for underactuated autonomous underwater vehicles (AUVs). According to adaptive dynamic programming (ADP) with actor-critic neural networks (NNs), by constructing a novel barrier-type cost function, an adaptive predefined-time optimal constraint control approach was developed. With the help of predefined-time stability theory via tanh(·) function, the developed control approach could ensure all state errors did not beyond the preset error boundary, and the controlled system was semi-global practical predefined-time stable. At the same time, the minimum of cost function could be guaranteed. Finally, simulation results were given to verify the effectiveness of the developed control approach.