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
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;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285646
