Research on Stabile Tele-operated UUV System Based on Neural Networks

A design of the state-feedback controller is given for a tele-operated unmanned underwater vehicle system in this paper. The proposed system with unmanned underwater vehicle, mother-ship, and remote platform can be tele-operated through the radio communication systems. However, time delay on the radio communication systems may make the proposed system unstable. Therefore it is a critical issue to deal with the time delay effect occurring in the proposed system. Based on an uncertain time-delayed model of the proposed system, a state-feedback controller was designed to stabilize it. In addition, both cases with constant and varying time delay are thoroughly considered and exhaustively studied in this paper. Finally, results of simulation prove the feasibility and efficiency of the proposed approach.