Control of Autonomous Underwater Vehicles using Neural Network Based Robust Control System
نویسندگان
چکیده
A neural network based robust control system design for the yaw angle of autonomous underwater vehicle (AUV) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as water flow under sea. Finally, the proposed neural controller improved that this kind of neural predictors could be used in real time applications of an AUV. Key-Words: Neural network control, robust control, autonomous underwater vehicles, PID controller
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