Artificial neural network controller for underwater ship hull operation robot

Author

Roznowski, Grzegorz

Author_Institution

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

fYear

2003

fDate

18-22 Feb. 2003

Firstpage

371

Lastpage

374

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; artificial neural network controller; autonomous underwater vehicle; dynamic motion equations; hydroacoustic localisation system; hydrodynamic forces; kinematic transformation; navigation system; nonlinear system; robot control algorithms; underwater robot; underwater ship hull cleaning; unknown forces; Artificial neural networks; Control system synthesis; Control theory; Force control; Hydrodynamics; Marine vehicles; Network synthesis; Nonlinear control systems; 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.2003.1255094

Filename

1255094