Development of motion control system for AUV using neural nets
Development of motion control system for AUV using neural nets
复制标题
利用神经网络开发AUV运动控制系统
DOI：
10.1109/auv.1990.110440
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发表时间：
1990
期刊：
影响因子：
--
通讯作者：
T. Ura
中科院分区：
文献类型：
--
作者：
T. Fujii;T. Ura
提出了一种自组织神经网络控制器系统作为auv（自主水下航行器）的自适应运动控制系统。该系统可以根据对车辆运动的一些评估，自动生成合适的控制器。为了在实际环境中构建系统，提出了一种由早熟模糊控制器发起的控制器组织过程。该过程使系统能够以最小的控制动作效果的先验知识生成控制器。将该系统应用于一艘水下航行器的纵向运动控制中，并通过自由游泳池试验成功实现了控制器的自组织
A self-organizing neural-net-controller system is developed as an adaptive motion control system for AUVs (autonomous underwater vehicles). The system can generate autonomously an appropriate controller according to some evaluations of motion of the vehicle. To construct the system in practical environment, an organizing process of the controller is proposed, which is initiated by a premature fuzzy controller. This process enables the system to generate the controller with minimum prior knowledge of the effect of control actions. The system was applied to the longitudinal motion control of an AUV and succeeded in self-organization of the controller through free-swimming tank tests.<<ETX>>