Neural network based control system architecture proposal for underwater ship hull cleaning robot

Author

Roznowski, G.

Author_Institution

Fac. of Mech. Eng., Tech. Univ. Gdansk, Poland

fYear

2003

fDate

18-22 Feb. 2003

Firstpage

368

Lastpage

370

Abstract

Controlling of underwater robots require the estimation of unknown hydrodynamic forces and moments and disturbances acting on these vehicles. Using conventional control theory for design and synthesis of the controller seems to be almost impossible when we are dealing with such a nonlinear system. In this paper an artificial neural network based control system of a robot for underwater ship hull cleaning is proposed. The underwater robot has to move on a trajectory specified in terms of desired position according to the hydroacoustic localisation system.

Keywords

closed loop systems; computerised navigation; control nonlinearities; control system synthesis; damping; mobile robots; neurocontrollers; remotely operated vehicles; robot dynamics; robot kinematics; ships; surface cleaning; underwater vehicles; autonomous underwater vehicle; bounded disturbances; closed loop system dynamics; damping forces; direct trajectory learning; filtered tracking error system; hydroacoustic localisation system; hydrodynamic forces; kinematic transformation; local controller; neural network based control system; nonlinear system; restoring forces; rigid-body representation; ship hull cleaning; underwater ship cleaning robot; unknown dynamics; Cleaning; Control systems; Control theory; Force control; Hydrodynamics; Marine vehicles; Neural networks; Proposals; Robot control; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

CAD Systems in Microelectronics, 2003. CADSM 2003. Proceedings of the 7th International Conference. The Experience of Designing and Application of

Print_ISBN

966-553-278-2

Type

conf

DOI

10.1109/CADSM.2003.1255093

Filename

1255093