자기 회귀 웨이블릿 신경 회로망을 이용한 자율 수중 운동체의 방향제어에 관한 연구

A Study on Steering Control of Autonomous Underwater Vehicle Using Self-Recurrent Wavelet Neural Network

In this paper, we propose a new method for designing the steering controller of Autonomous Underwater Vehicle(AUV) using a Self-Recurrent Wavelet Neural Network(SRWNN). The proposed control method is based on a direct adaptive control technique, and a SRWNN is used for the controller of horizontal motion of AUV. A SRWNN is tuned to minimize errors between the SRWNN outputs and the outputs of AUV via the gradient descent(GD) method. Finally, through the computer simulations, we compare the performance of the propose controller with that of the MLP based controller to verify the superiority and effectiveness of the propose controller.