Neural Network Predictive Control for Autonomous Underwater Vehicle with Input Delay
نویسندگان
چکیده
منابع مشابه
Model predictive control for autonomous underwater vehicle
Research on the autonomous underwater vehicles (AUVs) has been gaining more interest in the recent past. AUVs have been envisioned as a cost effective and safe solution for various underwater missions including but are not limited to underwater scientific test-bed, deep oceanic surveillance, environmental monitoring and underwater structures inspection. The control for such autonomous vehicles,...
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In this paper, a tracking controller is proposed to navigate the autonomous underwater vehicle (AUV) within a specific region with known constant input delay. The unit quaternion representation is used for attitude control to avoid singularity problem encountered with Euler Angles. However, compensation of actuator delay is a challenging problem to handle with the nonlinear dynamics of an AUV. ...
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In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...
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This paper presents a neural network adaptive controller for autonomous diving control of an autonomous underwater vehicle (AUV) using adaptive backstepping method. In general, the dynamics of underwater robotics vehicles (URVs) are highly nonlinear and the hydrodynamic coefficients of vehicles are difficult to be accurately determined a priori because of variations of these coefficients with d...
متن کاملoptimized fuzzy control design of an autonomous underwater vehicle
in this study, the roll, yaw and depth fuzzy control of an au- tonomous underwater vehicle (auv) are addressed. yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. the discussed auv has four aps at the rear of the vehicle as actuators. two rule bases...
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ژورنال
عنوان ژورنال: Journal of Control Science and Engineering
سال: 2018
ISSN: 1687-5249,1687-5257
DOI: 10.1155/2018/2316957