한국해양공학회지 (Journal of Ocean Engineering and Technology)

  • 제18권2호
  • /
  • Pages.33-38
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  • 2004
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  • 1225-0767(pISSN)
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  • 2287-6715(eISSN)
한국해양공학회 (Korean Society of Ocean Engineers)
권호 표지

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)
  • 발행 : 2004.04.01
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초록

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.

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참고문헌

  1. Guidance and Control of Ocean Vehicles Fossen,T.I.
  2. IEEE Journal of Oceanic Engineering v.18 no.3 Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles Healey,A.J.;Lienard,D.
  3. Proceedings of the IEEE Oceans conference A Nonlinear Sliding Mode Autopilot for Unmanned Undersea Vehicles Hills,S.J.;Yoerger,D.R.
  4. IEEE Journal of Oceanic Engineering v.20 no.3 An On-Line Adaptatiion Method in a Neural Network Based Control System for AUV's Ishii,K.;Fujii,T.;Ura,T.
  5. International Journal of Ocean Engineering and Technology v.16 no.1 Motion Control of an AUV Using a Neural-Net based Adaptive Controller Lee,J.L.;Lee,P.M.;Lee,S.J.
  6. International Journal of Ocean Engineering and Technology v.8 no.2 System Identification of an Automomous Underwater Vehicle and its Application Using Neural Network Lee,P.M.;Lee,J.S.
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  10. IEEE Journal of Oceanic Engineering v.15 no.3 A Neural Net Controller for Underwater Robotic Vehicles Yuh,J.