Fast adaptive control of a non-linear system by an ADALINE: motion in a fluid

Author

Labonté, Gilles

Author_Institution

Dept. of Math. & Comput. Sci., R. Mil. Coll. of Canada, Kingston, Ont., Canada

Volume

2

fYear

2002

fDate

6/24/1905 12:00:00 AM

Firstpage

1837

Lastpage

1841

Abstract

We report results from our endeavour to build control systems for a small autonomous underwater vehicle (AUV), named C-SCOUT.We prove that an ADALINE with higher order inputs can learn the non-linear dynamics of a vehicle moving in a fluid. We then let one serve as the system model in an adaptive control system for the vertical motion of a small submarine. The resulting control system possesses all the features one could desire: it learns rapidly, then performs flawlessly, and is able to regain control of the vehicle if incidents modify its behavior. The technique we describe can straightforwardly be generalized to many other situations

Keywords

adaptive control; learning systems; mobile robots; motion control; neurocontrollers; nonlinear control systems; nonlinear dynamical systems; underwater vehicles; ADALINE; AUV; C-SCOUT; adaptive control system; fast adaptive control; nonlinear dynamics; nonlinear system; small autonomous underwater vehicle; small submarine; vertical motion; Adaptive control; Artificial neural networks; Control systems; Drilling; Equations; Internet; Mathematics; Shape; Size control; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Neural Networks, 2002. IJCNN '02. Proceedings of the 2002 International Joint Conference on

Conference_Location

Honolulu, HI

ISSN

1098-7576

Print_ISBN

0-7803-7278-6

Type

conf

DOI

10.1109/IJCNN.2002.1007798

Filename

1007798