中文摘要：

针对外界扰动的无人水下航行器航迹跟踪控制问题,通过定义一个动态滑模面,结合Lyapunov稳定性理论,设计航迹跟踪滑模控制器.考虑到系统中存在的未建模动态,在保证不引入模型参数的前提下,采用模糊神经网络在线逼近理想滑模控制律,并根据Lyapunov稳定性理论及投影算法得出模糊神经网络的参数自适应律.理论分析证明闭环控制系统的一致渐近稳定性、所有变量的有界性及跟踪误差及其导数渐近趋向于零.仿真实验验证了所提控制策略的有效性.

英文摘要：

To cope with the external disturbances for tracking unmanned underwater vehicles（ UUV）,a trajectory tracking sliding mode controller（ SMC） was designed combining with Lyapunov stability theorem by defining a sliding surface. Considering the unconstructed dynamics existing in the UUV system,a fuzzy neural network（ FNN） was employed to online approximate the ideal sliding mode control law without introducing any model parameters. Moreover,the adaptation laws for parameters of FNN were derived by the Lyapunov stability theorem and projection algorithm. Theoretical analysis proves that the asymptotical stability of overall closed-loop control system,the boundedness of all signals and the tracking error and its first derivative converge to zero. Simulation tests verify the effectiveness of the proposed scheme.