engleski

Multilayer Neural Net Underwater Vehicle Dynamic Positioning Control

An adaptive multylayer neural network controller for high precision maneuvering of underwater vehicles is presented. Maneuvering underwater vehicles require special attention to a number of factors including thruster and vehicle’ s nonlinearities, couplings which exist between various degrees of freedom as well as effects of the sea currents. The neuro control system for underwater vehicle maneuvering described here is based on the conventional controller supported with the so called adaptive neural network. Adaptive neural network used here has two tunable layers, thus the problem of selection of proper basis is avoided.

precise maneuvering; adaptive neural network; underwater vehicle; track-keeping

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