Tracking performance control of a cable communicated underwater vehicle using adaptive neural network controllers
Tracking performance control of a cable communicated underwater vehicle using adaptive neural network controllers
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DOI：
10.1016/j.asoc.2009.10.008
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发表时间：
2010-06
期刊：
影响因子：
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通讯作者：
A. Bagheri;T. Karimi;N. Amanifard
中科院分区：
文献类型：
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作者：
A. Bagheri;T. Karimi;N. Amanifard
本文对水下机器人的设计、动力学建模和控制进行了研究。提出了四自由度的车辆动力学模型，并将拖曳缆的动力学效应的精确表示用于动力学仿真和控制设计。设计了一种非线性自适应神经网络控制器，并进行了仿真。采用多层径向基函数神经网络设计自适应控制器。最后，神经网络控制器的车辆的性能进行了比较与PD控制器。在所有可控的自由度的车辆的跟踪性能的显着改善。此外，仿真说明了控制器的鲁棒性相对较大的分布的通信电缆。
In this paper, design, dynamic modeling and control of the fabricated underwater remotely operated vehicle have been considered. Dynamic model of the vehicle is presented for four degrees of freedom and an accurate representation of the dynamic effects of the towed cable is used for dynamic simulation and control design. A nonlinear adaptive neural network controller is developed and simulated. Multi-layer and radial basis function neural networks are used for designing the adaptive controllers. Finally, the performance of the vehicle with neural network controllers is compared with a PD controller. The significant improvement is observed for tracking performance of the vehicle in all controllable degrees of freedom. Also, the simulation illustrated the robustness of controllers for the relative large distributions of the communication cable.