Title :
Fuzzy neural network controller for AUV based on RAN
Author :
Chong, Lv ; Yong-jie, Pang ; Ye, Li
Author_Institution :
State Key Lab. of Autonomous Underwater Vehicle, Harbin Eng. Univ., Harbin, China
Abstract :
A fuzzy neural network controller based on amelioration of resource allocating network (RAN) is presented. This controller uses the improved RAN algorithm to on-line tune the number of hidden nodes in rule layer, which makes the values of network center data vary adaptively. Thus the precision and real-time requirement of the control system can be satisfied by the FNN with less structure. Based on the simulation platform of a certain plant-AUV, simulation experiments are conducted for the proposed controller and the results show that the presented controller is feasible in application to AUV.
Keywords :
fuzzy control; fuzzy neural nets; neurocontrollers; resource allocation; underwater vehicles; AUV; RAN algorithm; autonomous underwater vehicle; fuzzy neural network controller; network center data; resource allocating network; simulation platform; Automatic control; Control systems; Fuzzy control; Fuzzy neural networks; Fuzzy systems; Laboratories; Motion control; Radio access networks; Resource management; Underwater vehicles; Autonomous Underwater Vehicle; Resource Allocating Network; fuzzy neural network;
Conference_Titel :
Control and Decision Conference, 2009. CCDC '09. Chinese
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-2722-2
Electronic_ISBN :
978-1-4244-2723-9
DOI :
10.1109/CCDC.2009.5195220
