Title :
A survey and experimental study of neural network AUV control
Author :
Lorentz, Jørgen ; Yuh, J.
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
Abstract :
This paper presents a survey of neural network controllers for AUVs. A direct adaptive neural net controller incorporating integral action was designed for the heave motion of the ODIN underwater vehicle. The neural net controller is trained online by parallel recursive error prediction method and the critic equation. The influence of the various design parameters of the neural net controller was investigated by computer simulation and the controller was also experimentally tested using the ODIN. Results of the computer simulation and experiment are discussed in this paper
Keywords :
adaptive control; intelligent control; learning systems; marine systems; motion control; neurocontrollers; real-time systems; simulation; ODIN underwater vehicle; adaptive control; computer simulation; heave motion control; neural network control; online control; parallel recursive error prediction; Adaptive control; Computer errors; Computer simulation; Error correction; Integral equations; Motion control; Neural networks; Prediction methods; Programmable control; Underwater vehicles;
Conference_Titel :
Autonomous Underwater Vehicle Technology, 1996. AUV '96., Proceedings of the 1996 Symposium on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-3185-0
DOI :
10.1109/AUV.1996.532406
