Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles
A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water...
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2014-01-01
|
| Series: | International Journal of Advanced Robotic Systems |
| Online Access: | https://doi.org/10.5772/56740 |
| _version_ | 1818962254123499520 |
|---|---|
| author | İkbal Eski SCahin Yildirim |
| author_facet | İkbal Eski SCahin Yildirim |
| author_sort | İkbal Eski |
| collection | DOAJ |
| description | A neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as underwater flow. It is proved that this kind of neural predictor could be used in real-time AUV applications. |
| first_indexed | 2024-12-20T12:26:24Z |
| format | Article |
| id | doaj.art-e97a5afda8284f5a91758554b9dbb821 |
| institution | Directory Open Access Journal |
| issn | 1729-8814 |
| language | English |
| last_indexed | 2024-12-20T12:26:24Z |
| publishDate | 2014-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | International Journal of Advanced Robotic Systems |
| spelling | doaj.art-e97a5afda8284f5a91758554b9dbb8212022-12-21T19:40:51ZengSAGE PublishingInternational Journal of Advanced Robotic Systems1729-88142014-01-011110.5772/5674010.5772_56740Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehiclesİkbal Eski0SCahin Yildirim1 Department of Mechatronics Engineering, University of Erciyes, Kayseri Turkey Erciyes University, Faculty of Engineering, Mechatronics Engineering Department, Kayseri, TurkeyA neural network based robust control system design for the trajectory of Autonomous Underwater Vehicles (AUVs) is presented in this paper. Two types of control structure were used to control prescribed trajectories of an AUV. The vehicle was tested with random disturbances while taxiing under water. The results of the simulation showed that the proposed neural network based robust control system has superior performance in adapting to large random disturbances such as underwater flow. It is proved that this kind of neural predictor could be used in real-time AUV applications.https://doi.org/10.5772/56740 |
| spellingShingle | İkbal Eski SCahin Yildirim Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles International Journal of Advanced Robotic Systems |
| title | Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles |
| title_full | Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles |
| title_fullStr | Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles |
| title_full_unstemmed | Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles |
| title_short | Design of Neural Network Control System for Controlling Trajectory of Autonomous Underwater Vehicles |
| title_sort | design of neural network control system for controlling trajectory of autonomous underwater vehicles |
| url | https://doi.org/10.5772/56740 |
| work_keys_str_mv | AT ikbaleski designofneuralnetworkcontrolsystemforcontrollingtrajectoryofautonomousunderwatervehicles AT scahinyildirim designofneuralnetworkcontrolsystemforcontrollingtrajectoryofautonomousunderwatervehicles |