Title :
Underwater robot intelligent control based on multilayer neural network
Author :
Oskin, Dmitry A. ; Dyda, Alexander A.
Author_Institution :
Dept. of Autom. & Inf. Syst., Maritime State Univ., Vladivostok, Russia
Abstract :
The paper is devoted to the design of the intelligent neural network-based control systems for underwater robot. New algorithm for intelligent controller learning is derived with usage of speed gradient method. Proposed systems provide the robot dynamics close to reference one. Simulation results of control system for underwater robot dynamics with parameter and partial structural uncertainties have confirmed the effectiveness of approach developed.
Keywords :
control system synthesis; marine engineering; multilayer perceptrons; neurocontrollers; robot dynamics; velocity control; control system design; intelligent controller learning; intelligent neural network-based control systems; multilayer neural network; parameter uncertainties; partial structural uncertainties; robot dynamics; speed gradient method; underwater robot intelligent control; Artificial neural networks; Mathematical model; Robots; Trajectory; Vectors; control; multilayer neural network speed gradient method; uncertain dynamics; underwater robot;
Conference_Titel :
Intelligent Data Acquisition and Advanced Computing Systems (IDAACS), 2013 IEEE 7th International Conference on
Conference_Location :
Berlin
Print_ISBN :
978-1-4799-1426-5
DOI :
10.1109/IDAACS.2013.6663061
