DocumentCode
408109
Title
Neural based adaptive control of underwater vehicle
Author
Xing, Z.W. ; Zhang, Y. ; Liu, K.Z. ; Feng, X.S.
Author_Institution
Underwater Eng. Res. Group, Chinese Acad. of Sci., Shenyang, China
Volume
1
fYear
2003
fDate
8-13 Oct. 2003
Firstpage
622
Abstract
A neural network based adaptive inverse control structure fit for the decoupling control of underwater vehicle is proposed. The process of decoupling does not depend on the dynamic model and coupling model of the plant. The coupling between the different variables is suppressed through a disturbance canceller. The validation of the scheme is verified by the simulation.
Keywords
adaptive control; mobile robots; neurocontrollers; underwater vehicles; adaptive inverse control structure; decoupling control; disturbance canceller; neural based control; neural networks; underwater vehicle; Adaptive control; Control systems; Hydrodynamics; Motion analysis; Nonlinear dynamical systems; Programmable control; Transfer functions; Uncertainty; Underwater vehicles; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN
0-7803-7925-X
Type
conf
DOI
10.1109/RISSP.2003.1285646
Filename
1285646
Link To Document