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Adaptive Neuro Controller for a Precise Manoeuvring of Underwater Vehicle


Vukić, Zoran; Borović, Bruno; Tovornik, Boris
Adaptive Neuro Controller for a Precise Manoeuvring of Underwater Vehicle // Manoeuvring and Control of Marine Craft 2000 : Proceedings of the 5th IFAC Conference / Blanke, Mogens ; Pourzanjani, Malek ; Vukić, Zoran (ur.).
Aalborg: Pergamon, 2000. str. 173-178 (predavanje, međunarodna recenzija, cjeloviti rad (in extenso), znanstveni)


Naslov
Adaptive Neuro Controller for a Precise Manoeuvring of Underwater Vehicle

Autori
Vukić, Zoran ; Borović, Bruno ; Tovornik, Boris

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Manoeuvring and Control of Marine Craft 2000 : Proceedings of the 5th IFAC Conference / Blanke, Mogens ; Pourzanjani, Malek ; Vukić, Zoran - Aalborg : Pergamon, 2000, 173-178

ISBN
978-0-08-043659-3

Skup
Manoeuvring and Control of Marine Craft 2000 : 5th IFAC Conference

Mjesto i datum
Aalborg, Danska, 23-25.08.2000

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Neural networks; underwater vehicle; trajectory following; guidance

Sažetak
A neuro controller for high precision manoeuvring of 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 manoeuvring described here is based on the conventional controller supported with the so called adaptive neural network.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Strojarstvo



POVEZANOST RADA


Projekt / tema
01920201
036003

Ustanove
Fakultet elektrotehnike i računarstva, Zagreb,
Brodarski institut d.o.o.