A fast adaptive convergence control of underwater vehicle based on ELM

In view of the underwater vehicle system, this paper presents a new fast nonlinear sliding mode algorithm based on adaptive ELM to approximate the indeterminate items in the system as a whole. Moreover, a new nonlinear slip mode super-surface is used to enable the system to reach the equilibrium point faster than the linear slip and terminal slip mode from any state on the slip face. By using Lyapunov stability theory, the existence of bounded disturbance and bounded neural network approximation error conditions, the control system of underwater vehicle tracking error bounded stable are proved. And relevant simulation verification is carried out.