engleski

Trajectory Following Neuro Controller for Submarine Manoeuvring in Horizontal and Vertical Plane

A neuro controller for trajectory following for a submarine in horizontal and vertical planes requires special attention to a number of factors including non-linearities and couplings that exist between various degrees of freedom as well as dependence of rudder and hydroplanes gains on submarine's forward speed. The neural control system for submarine trajectory following described here is based on a conventional controller supported by a neural network that ensures perfect velocity and trajectory following.

Manoeuvring in horizontal and vertical planes; neural network controller; submarine; track-keeping

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