Development of motion control system for AUV using neural nets

Author

Fujii, Teruo ; Ura, Tamaki

Author_Institution

Tokyo Univ., Japan

fYear

1990

fDate

5-6 Jun 1990

Firstpage

81

Lastpage

86

Abstract

A self-organizing neural-net-controller system is developed as an adaptive motion control system for AUVs (autonomous underwater vehicles). The system can generate autonomously an appropriate controller according to some evaluations of motion of the vehicle. To construct the system in practical environment, an organizing process of the controller is proposed, which is initiated by a premature fuzzy controller. This process enables the system to generate the controller with minimum prior knowledge of the effect of control actions. The system was applied to the longitudinal motion control of an AUV and succeeded in self-organization of the controller through free-swimming tank tests

Keywords

adaptive control; fuzzy logic; knowledge based systems; marine systems; mobile robots; neural nets; position control; self-adjusting systems; adaptive motion control; autonomous underwater vehicles; free-swimming tank tests; longitudinal motion control; organizing process; premature fuzzy controller; self-organization; self-organizing neural-net-controller; Adaptive control; Adaptive systems; Control systems; Mobile robots; Motion control; Neural networks; Organizing; Programmable control; Remotely operated vehicles; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Autonomous Underwater Vehicle Technology, 1990. AUV '90., Proceedings of the (1990) Symposium on

Conference_Location

Washington, DC

Type

conf

DOI

10.1109/AUV.1990.110440

Filename

110440