Adaptive control of autonomous underwater vehicle based on fuzzy neural network

• Autorzy: Qin Z. , Gu J.
• Języki publikacji: EN

Abstrakty

EN

This paper presents an adaptive control method based on fuzzy neural network for Autonomous Underwater Vehicle (AUV). The Fuzzy Neural Network (FNN) could build the inverse model of AUV through on-line learning algorithm, which is free of fuzzy neural network structure knowledge and prior fuzzy inference rules. The adaptive controller for AUV based on FNN is proposed, and then the stability of the resulting AUV closed-loop control system is analyzed by Lyaponov stability theory. The validity of the proposed control method has been verified through computer simulation experiments.

Słowa kluczowe

EN

autonomous underwater vehicle; fuzzy neural network; adaptive control; stability

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2010
• Tom: Vol. 4, No. 1
• Strony: 104--111
• Opis fizyczny: Bibliogr. 23 poz., rys.

Twórcy

autor

Qin Z.

autor

Gu J.

• Department of Electrical and Computer Engineering, Dalhousie University, Halifax, B3J 2X4, Canada,

Bibliografia

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