Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
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An On-Line Adaptive Control of Underwater Vehicles Using Neural Network

  • Kim, Myung-Hyun (Department of Naval Architecture and Ocean Engineering, Pusan National University) ;
  • Kang, Sung-Won (Department of Naval Architecture and Ocean Engineering, Pusan National University) ;
  • Lee, Jae-Myung (Department of Naval Architecture and Ocean Engineering, Pusan National University)
  • Published : 2004.04.01
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Abstract

All adaptive neural network controller has been developed for a model of an underwater vehicle. This controller combines a radial basis neural network and sliding mode control techniques. No prior off-line training phase is required, and this scheme exploits the advantages of both neural network control and sliding mode control. An on-line stable adaptive law is derived using Lyapunov theory. The number of neurons and the width of Gaussian function should be chosen carefully. Performance of the controller is demonstrated through computer simulation.

Keywords

References

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