An Application of Speed Gradient Method to Neural Network Control for Underwater Robot
نویسندگان
چکیده
in this paper the speed gradient method is applied to design an adjustment algorithm for parameters of neural network controller. Local quadratic criterion expresses generalized error of desired trajectory tracking. Continuous adjustment laws for neural network parameters and their discrete analogies are derived on base of speed gradient method. To illustrate an approach, the mathematical model of underwater robot is taken. Numerical experiments had confirmed.
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