Title :
A neural net controller for underwater robotic vehicles
Author_Institution :
Dept. of Mech. Eng., Hawaii Univ., Honolulu, HI, USA
fDate :
7/1/1990 12:00:00 AM
Abstract :
Results of a study on the application of neural networks to the control system of underwater robotic vehicles (URVs) are presented. The robustness of the control system with respect to nonlinear dynamic behavior and parameter uncertainties is investigated by computer simulation. The results show the feasibility of using unpredictable changes in the dynamics of the vehicle and its environment
Keywords :
automatic guided vehicles; computerised control; control system analysis computing; digital simulation; marine systems; mobile robots; neural nets; nonlinear control systems; computer simulation; neural net controller; nonlinear dynamic behavior; robustness; underwater robotic vehicles; Application software; Control system synthesis; Control systems; Neural networks; Nonlinear control systems; Nonlinear dynamical systems; Robot control; Robust control; Underwater vehicles; Vehicle dynamics;
Journal_Title :
Oceanic Engineering, IEEE Journal of
