Title :
A learning control system for unmanned underwater vehicles
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
Unmanned underwater vehicles have become an important tool for various underwater tasks because they have greater speed, endurance and depth capability as well as a higher factor of safety than human divers. However, most vehicle control systems were designed based on a simplified vehicle model and they often resulted in poor performance because of the nonlinear and time-varying vehicle dynamics having parameter uncertainties. This paper describes a new adaptive and learning (AL) control system
Keywords :
adaptive control; learning systems; marine systems; mobile robots; depth capability; learning control system; safety; unmanned underwater vehicles; vehicle control systems; Control system synthesis; Control systems; Humans; Nonlinear control systems; Programmable control; Time varying systems; Uncertain systems; Underwater vehicles; Vehicle dynamics; Vehicle safety;
Conference_Titel :
OCEANS '95. MTS/IEEE. Challenges of Our Changing Global Environment. Conference Proceedings.
Conference_Location :
San Diego, CA
Print_ISBN :
0-933957-14-9
DOI :
10.1109/OCEANS.1995.528562
